ROS Software Maintainer: Zihun Kye < email@example.com >
Allegro Hand ROS stack: allegro_hand_ros
IMPORTANT: This software is compatible with both 32-bit and 64-bit systems. Make sure to install the correct Allegro Hand Grasping library: libBHand
Tested and working on:
Allegro Hand V3
Ubuntu 12.04 LTS (kernel 3.2.0 - 3.13.0), ROS Fuerte
Ubuntu 12.04 - 14.04 LTS (kernel 3.13.0), ROS Groovy
ROS Indigo (and beyond) with this fork: https://github.com/felixduvallet/allegro-hand-ros
Note: Extremely unstable control on ROS Electric. Also, no rviz visualization.
Allegro Hand V4(Currently supported)
Ubuntu 16.04 LTS (4.15.0-106-generic), ROS Kinetic
ROS Kinetic with this fork: https://github.com/simlabrobotics/allegro_hand_ros_v4
Note: Support rviz visualization.
Allegro Hand is a low-cost and highly adaptive robotic hand.
With four fingers and sixteen independent torque-controlled joints,
it's the perfect platform for grasp and manipulation research.
- Lightweight and portable anthropomorphic design
- Low-cost dexterous manipulation with applications in research and industry
- Multiple ready-to-use sensorless grasping algorithms capable of handling a variety of object geometries
- Capable of holding over 1.5kg
- 16 independent torque-controlled joints (4 fingers x 4 DOF ea.)
- Support for real-time control and online simulation
- ROS integration
More information can be found on the Allegro Hand wiki:
See the README file included in the package.
Hardware and software documentation as well as purchasing information can be found on the Allegro Hand wiki:
Allegro Hand (left or right) from http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Allegro_Hand_v4.0
PCAN-USB or a PCAN-PCI adapter from peak-system.com
- 12V ~ 24V, 120W (Allegro Hand v4)
See the Allegro Hand stack wiki page for installation instructions.
An unofficial updated fork of the Wonikrobotics ROS package is available here(for Allegro Hand v3). It is compatible with modern ROS versions (i.e. catkin), integrates everything into a single launch file, and provides several other improvements.
If you would like to contribute to the ROS software for Wonikrobotics's Allegro hand, please contact Wonikrobotics < firstname.lastname@example.org >. Thank you.
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