Difference between revisions of "Hook End Effector"

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(Pictures of the Setup)
(Hardware)
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== Hardware ==
 
== Hardware ==
[[Image:utm-servo-bracket.jpg|thumb| Image of the solidworks part for the bracket to mount the UTM on to the servo.]]
+
[[Image:hook.jpg|thumb| Image of the solidworks part for the hook that mounts on to an ATI Mini 40 Force/Torque sensor.]]
 
This is the hardware setup that we use:
 
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
 
* Tilting servo: Robotis Servo (typically we use RX-28) http://www.crustcrawler.com/motors/RX28/index.php?prod=66

Revision as of 12:22, 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 hook that mounts on to an ATI Mini 40 Force/Torque sensor.

This is the hardware setup that we use:

Code