Difference between revisions of "Hook End Effector"
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== What this does == | == 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) | |
| − | <gallery caption=" | + | |
| − | File: | + | 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: | + | |
| + | <gallery caption="The Hook as an End Effector" widths="150px" perrow="4"> | ||
| + | File:human_hook1.jpg| | ||
| + | File:human_hook2.jpg| | ||
| + | File:hook_cabinet1.jpg| | ||
| + | File:hook_drawer1.jpg| | ||
</gallery> | </gallery> | ||
Revision as of 08:16, 8 October 2009
Contents |
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.
- The Hook as an End Effector
Pictures of the Setup
- Servo Tilting the UTM
Firefly Camera, UTM and Servo (left to right)
- Alternate Configuration
Hardware
This is the hardware setup that we use:
- Tilting servo: Robotis Servo (typically we use RX-28) http://www.crustcrawler.com/motors/RX28/index.php?prod=66
- This gives a serial interface to control the servo: http://www.crustcrawler.com/electronics/USB2Dynamixel/index.php?prod=65
- Hokuyo UTM. (http://www.acroname.com/robotics/parts/R314-HOKUYO-LASER4.html)
- Bracket to mount the Hokuyo on to the servo.
- This is a custom part that we have designed.
- The solidworks CAD file (utm-servo-bracket.sldprt). This requires Solidworks 2009.
- We have taken two routes for making the bracket
- buy Aluminium channels from http://mcmastercarr.com and drill the appropriate holes.
- use http://www.mfg.com to get the part manufactured from the CAD file. Will take between a week to 10 days.
Code
- ROS (http://www.ros.org)
- You will need the following ROS packages from our public ROS repository (available at http://code.google.com/p/gt-ros-pkg/wiki/hrl_content_summary)
- robotis
- hrl_hokuyo (requires hokuyo_node - http://www.ros.org/wiki/hokuyo_node)
- hrl_tilting_hokuyo
