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PD control api

Making Rock Paper Scissors by Allegro Hand

This instruction shows you how to use PD control api by making Rock Paper Scissors with Allegro Hand.

Please download BHand_PDcontrol_tutorial.zip file and follow below steps.

'BHand PDcontrol tutorial.zip' file.

Also, you need to install BHand library.

"libBHand" : Grasping_Library_for_Linux

Make 2 files under grasp directory.

Edit CMakeLists.txt for building new cpp file

Edit each files.

 Edit main.cpp

Add commands to use Rock Scissors Paper functions.

Try to build and run Allegro Hand. 1,2,3 keyboard button will show you Rock Scissors Paper.

Copyright & Trademark Notice
Allegro, the Allegro logo, RoboticsLab, the RoboticsLab logo, and all related files and documentation are Copyright ⓒ 2008-2024 Wonik Robotics Co., Ltd. All rights reserved. RoboticsLab and Allegro are trademarks of Wonik Robotics. All other trademarks or registered trademarks mentioned are the properties of their respective owners.

Wonik Robotics's Allegro Hand is based on licensed technology developed by the Humanoid Robot Hand research group at the Korea Institute of Industrial Technology (KITECH).

Any references to the BHand Library or the Allegro Hand Motion and/or Grasping Library refer to a library of humanoid robotic hand grasping algorithms and motions developed and published by KITECH researchers.
J.-H. Bae, S.-W. Park, D. Kim, M.-H. Baeg, and S.-R. Oh, "A Grasp Strategy with the Geometric Centroid of a Groped Object Shape Derived from Contact Spots," Proc. of the 2012 IEEE Int. Conf. on Robotics and Automation (ICRA2012), pp. 3798-3804

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