Difference between revisions of "Hook End Effector"

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(Created page with '== Author == Advait Jain (http://www.cc.gatech.edu/~advait) == What this does == Tilting the Hokuyo using a servo and reading back the servo encoder position while getting scans…')
 
(What this does)
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== What this does ==
 
== What this does ==
Tilting the Hokuyo using a servo and reading back the servo encoder position while getting scans from the Hokuyo allows us to generate a 3D point cloud of the world in front of the robot. We have used this 3D point cloud for object segmentation, door handle detection etc.
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We first used this hook as an end effector in this paper: Pulling Open Novel Doors and Drawers with Equilibrium Point Control. Advait Jain and Charles C. Kemp. IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2009. This paper and others can be downloaded from the Heathcare Robotics Lab website (http://www.healthcare-robotics.com)
<gallery caption="Sample Point Clouds" widths="150px" perrow="3">
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File:thok_pointcloud1.png|
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The hook was inspired by how humans sometimes use a finger or fingers to hook around a handle and pull something open. We also took inspiration from prosthetic hooks, which have been successfully used with remarkable versatility and effectiveness.
File:thok_pointcloud2.png|
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<gallery caption="The Hook as an End Effector" widths="150px" perrow="4">
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File:human_hook1.jpg|
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File:human_hook2.jpg|
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File:hook_cabinet1.jpg|
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File:hook_drawer1.jpg|
 
</gallery>
 
</gallery>
  

Revision as of 12:16, 8 October 2009

Author

Advait Jain (http://www.cc.gatech.edu/~advait)

What this does

We first used this hook as an end effector in this paper: Pulling Open Novel Doors and Drawers with Equilibrium Point Control. Advait Jain and Charles C. Kemp. IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2009. This paper and others can be downloaded from the Heathcare Robotics Lab website (http://www.healthcare-robotics.com)

The hook was inspired by how humans sometimes use a finger or fingers to hook around a handle and pull something open. We also took inspiration from prosthetic hooks, which have been successfully used with remarkable versatility and effectiveness.

Pictures of the Setup

Hardware

Image of the solidworks part for the bracket to mount the UTM on to the servo.

This is the hardware setup that we use:

Code