Difference between revisions of "Hook End Effector"

From Healthcare Robotics Wiki
Jump to: navigation, search
(What this does)
(Pictures of the Setup)
Line 12: Line 12:
 
File:hook_cabinet1.jpg|
 
File:hook_cabinet1.jpg|
 
File:hook_drawer1.jpg|
 
File:hook_drawer1.jpg|
</gallery>
 
 
== Pictures of the Setup ==
 
<gallery caption="Servo Tilting the UTM" widths="150px" perrow="5">
 
File:thok0_home.jpg|Firefly Camera, UTM and Servo (left to right)
 
File:thok0_tilt1.jpg|
 
File:thok0_tilt2.jpg|
 
</gallery>
 
 
<gallery caption="Alternate Configuration" widths="150px" perrow="5">
 
File:thok1_tilt1.jpg|
 
File:thok1_tilt2.jpg|
 
 
</gallery>
 
</gallery>
  

Revision as of 08:19, 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.

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