Hook End Effector
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.
- We designed the hook in Solidworks and printed it on a 3D printer.
- We also stuck some rubber on the hook. This can be seen in the images of the actual hook. The 3D printed hook is white and the rubber is black in color. We have bought the rubber sheets from http://mcmastercarr.com and used superglue to stick the rubber to the hook.
- The mounting holes in the base of the hook match an ATI Mini40 force torque sensor. (http://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40)
- ROS (http://www.ros.org)
- The code that we used to enable the robot to open drawers and doors using this hook as the end effector can be downloaded from our ROS repository. 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)
- code_publications/2009-humanoids-epc-pull (svn co http://gt-ros-pkg.googlecode.com/svn/trunk/hrl/code_publications/2009_humanoids_epc_pull/)