Only released in EOL distros:
Driver to control the home made gripper made in IRI which use a dynamixel servo to control torque.
- Author: Jose Luis Rivero
- License: LGPL
- Source: svn http://devel.iri.upc.edu/pub/labrobotica/ros/iri-ros-pkg/stacks/iri_common_drivers/trunk
The gripper was made in the IRI Workshop using the 3D printer and design its courtesy of master Patrick Grosch. ROS wrapper is on top of our own dynamixel drivers. Gripper movement can be shown in the following video:
The following video can give you an idea of how it works:
The gripper has been integrated in our Estirabot Robot (WAM based). The following video is from tests done to check the result: