Allegro Hand Application Studio!

Below you can download your copy of Allegro Application Studio for your Allegro Hand.
Please refer to Allegro Application Studio (Installation) for installation instructions.

File:Allegro Hand Setup 011 014 UPC.iso

[[File:{{{2}}}]] (for AH v3.0)


Offsets and Directions

Note: These are the offsets and directions for your Allegro Hand

Finger Joint Encoder Offsets
encoder_offset
Encoder Directions
encoder_direction
Motor Directions
motor_direction
0 0 832 + +
0 1 -66090 - +
0 2 613 + +
0 3 -965 + +
1 0 -394 + +
1 1 -64986 - -
1 2 -1535 + -
1 3 -1633 + +
2 0 -112 + -
2 1 -64028 - +
2 2 966 + +
2 3 655 + +
3 0 1073 + +
3 1 -1221 + +
3 2 -67064 - +
3 3 -65187 - +


Template:SAH020BR014 Offsets and Directions (ROS)

Note: These are the offsets and directions for your Allegro Hand

Finger Joint Encoder Offsets
encoder_offset
Encoder Directions
encoder_direction
Motor Directions
motor_direction
0 0 438 + -
0 1 -66996 - -
0 2 655 + -
0 3 782 + -
1 0 1092 + -
1 1 -67847 - +
1 2 1629 + +
1 3 862 + -
2 0 -491 + +
2 1 -66084 - -
2 2 -775 + -
2 3 1535 + -
3 0 -67383 - +
3 1 -66622 - +
3 2 -65673 - -
3 3 -66609 - -


Template:SAH020AL011 Offsets and Directions (ROS)





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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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