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.
Pictures of the Setup
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
- 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)
- hrl_hokuyo (requires hokuyo_node - http://www.ros.org/wiki/hokuyo_node)