This Getting Started Guide will provide the information necessary to get your Allegro Hand up and running for the first time.

Contents

System Requirements

CPU Intel® Core™2 Duo or higher
RAM at least 2GB
HDD at least 2GB
Graphics OpenGL 3.0 H/W Acceleration enabled
with at least 64Mb of video RAM
OS MS Windows® XP,
MS Windows® Vista,
MS Windows® 7
Additional S/W MS Visual Studio®
CAN Interface NI, Softing, Kvaser or ESD CAN
Note: Any CAN interface can be user-configured
for use with the Allegro Hand.

Allegro Application Studio Installation

CAN Interface

To use your new Allegro Hand with Allegro Application Studio (AAS), a controller area network (CAN) interface must be used. Out of the box, the Allegro Hand and AAS communicate via any of four CAN interface products:

  • National Instruments (NI) USB-8473s High-Speed CAN
  • Softing CAN-AC2-PCI
  • Kvaser PCIcan 4xHS
  • ESD CAN-PCI/266

All four of these CAN interface solutions can be purchased from SimLab along with the Allegro Hand.
Product and driver information for each of these four interfaces can be found below. Note: Other CAN interfaces may also be used but communication must be configured by the user.

NI USB-8473s CAN

NI USB-8473s

1-Port, High-Speed CAN, USB Interface with Synchronization -NI

File:NI USB-8473s Data Sheet.pdf
  • USB-8473s Software Manual:
File:NI CAN Software Manual.pdf

Product Description

From NI's website

  • Hi-Speed USB-compliant, bus-powered
  • CAN 2.0A (11-bit) and extended CAN 2.0B (29-bit) arbitration ID
  • Philips SJA1000 CAN controller and ISO 11898 physical layer
  • Philips TJA1041 high-speed CAN transceiver
  • Hardware timestamping: 1 µs reading resolution
  • Log 100% bus loads at 1 Mbits/s with no dropped frames

Driver

NI-CAN 2.7.4 (Windows 7)

File:NI-CAN DRIVER v274.zip

Softing CAN-AC2-PCI

Softing CAN-AC2-PCI

Active, two-channel CAN bus PCI interface card to connect a PC to two independent CAN networks. The card is suited both to control and visualization tasks and to parameterization and analysis applications. For instance, this enables the PC to be integrated into hierarchical network structures. -Softing

File:Softing CAN-AC2-PCI Data Sheet.pdf
  • CAN-ACx-PCI Hardware Notes:
File:CAN-ACx-PCI Hardware Notes.pdf
  • D-PDU API Data Sheet:
File:Softing D-PDU API Data Sheet.pdf

Product Description

From Softing's website

  • Active card with its own microcontroller
  • CAN API, optional CANopen API
  • Optional D-PDU API according to ISO 22900-2
  • Local buffering and preprocessing
  • High performance, takes over time-critical tasks from the PC
  • Transfer rate of up to 1 Mbps
  • 2 independent channels
  • Onboard switchable bus terminator
  • Same API for all form factors
  • Basis for powerful applications and analysis tools
  • Windows drivers for Vista, XP, 2000, NT, 9x; Linux drivers for Kernel 2.4 and 2.6
  • The following realtime environments are supported:
Ardence RTX for Windows XP/2000
Windows CE.NET 4.0, 4.1, 4.2 and 5.0

Driver

Softing CAN Drivers (Windows 7)

  • Direct Download:
File:Softing CAN Drivers and Software.zip

Kvaser PCIcan 4xHS

Kvaser PCIcan 4xHS

The Kvaser PCIcan product family is a family of CAN/PCI interface boards and comprises three members: Kvaser PCIcan 4xHS, PCIcan HS/HS and PCIcan HS. -Kvaser

File:Kvaser PCIcan 4xHS Data Sheet.pdf
  • PCIcan 4xHS Hardware Reference Manual:
File:Kvaser PCIcan Hardware Reference Manual.pdf

Product Description

From Kavaser's website

  • Compliant with PCI 2.2
  • Dimensions 140 x 100 mm (approx. 5.5 x 4 in.)
  • I/O mapped
  • Quick and easy plug-and-play installation (even under Windows NT 4.0!)
  • CAN Controllers: SJA1000 from Philips, with 64-byte receive FIFO
  • Supports CAN 2.0 A and 2.0 B (active)
  • High-speed ISO 11898 compliant driver circuits
  • Interfaces the CAN bus with DSUB CAN connector
  • CAN oscillator frequency: 16 MHz
  • Galvanic isolation between the CAN-controller and the CAN-driver
  • The CAN controllers can individually be connected to a common CAN bus on the card
  • The common CAN bus has a built-in optional termination

Driver

Kavaser CAN Drivers

Click "Downloads"
  • Direct Download (Windows 7):
File:Kvaser PCIcan 4xHS Driver.zip
  • Direct Download (Linux):
File:Kvaser PCIcan 4xHS Driver linux.zip

ESD CAN-PCI/266

ESD CAN-PCI/266

The module CAN-PCI/266 is a low cost PC board designed for 66 MHz PCI bus systems that uses a PCI bus width of 32 bits or in 33 MHz PCI bus systems at a bus speed of 33 MHz. -ESD

  • CAN-PCI/266 Data Sheet:
File:ESD CAN-PCI266 Data Sheet.pdf
File:ESD CAN-PCI266 Data Sheet 2.pdf
  • CAN-PCI/266 Hardware Installation and Technical Data:
File:ESD CAN-PCI266 Hardware Installation and Tech Data.pdf
  • ESD CAN API Guide:
File:ESD CAN API 1.pdf
File:ESD CAN API 2.pdf

Product Description

From ESD's website

  • PCI-CAN interface with 1 OR 2 CAN channel
  • PCI 2.2 interface, 32 bit, 66 MHz at 3.3 V signal voltage or 33 MHz at 5.0 V
  • CAN controller SJA1000 (CAN 2.0 A/B)
  • CAN interfaces electrically isolated, designed acc. to ISO 11898, bit rate up to 1 Mbit/s
  • Suitable for CANOpen and J1939
  • Attention: Passive CAN module without a microcontroller on board - the performance may be limited by the host system!

Driver

ESD CAN Driver

File:ESD CAN Drivers.zip

Directions & Offsets

Allegro Application Studio

communication configuration through roboticslab/bin/controls/ERHand_RT.lua

  1.  function Awake()
  2.  	print("Begin Allegro Hand")
  3.  	version()
  4.  
  5. 	-- If you just want to simulate, comment "rtTimer" and "createRTSystem"
  6. 	-- and uncomment loadModel
  7.  
  8. 	-- to change CAN interface, change "createRTSystem" line
  9.  
  10.  
  11.  
  12.  
  13.  	--loadModel("hand", "models/Etc/ERHand/ERHand.aml")
  14.  	rtTimer = createTimer("RTTimer", rTimer_MODE_REAL_WIN32)
  15.  	print(rtTimer)
  16.  	createRTSystem("models/Etc/ERHand/1_ERHand_RT_NICAN.aml", "RTSys", rtTimer)
  17.  	createController("RTController", "RTSys") --, 1, "controls/control_ERHand.xdl", "")
  18.  	setControlAlgorithm("RTController", "controls/control_ERHand.xdl")
  19.  	--setNominalSystem("HandController", "")
  20.  end






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Copyright & Trademark Notice
Allegro, the Allegro logo, RoboticsLab, the RoboticsLab logo, and all related files and documentation are Copyright ⓒ 2008-2020 Wonik Robotics Co., Ltd. All rights reserved. RoboticsLab and Allegro are trademarks of Wonik Robotics. All other trademarks or registered trademarks mentioned are the properties of their respective owners.

Wonik Robotics's Allegro Hand is based on licensed technology developed by the Humanoid Robot Hand research group at the Korea Institute of Industrial Technology (KITECH).

Any references to the BHand Library or the Allegro Hand Motion and/or Grasping Library refer to a library of humanoid robotic hand grasping algorithms and motions developed and published by KITECH researchers.
J.-H. Bae, S.-W. Park, D. Kim, M.-H. Baeg, and S.-R. Oh, "A Grasp Strategy with the Geometric Centroid of a Groped Object Shape Derived from Contact Spots," Proc. of the 2012 IEEE Int. Conf. on Robotics and Automation (ICRA2012), pp. 3798-3804

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