iamlab-cmu / DeltaHands

A Synergistic Dexterous Hand Framework Based on Delta Robots.

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DELTAHANDS: A Synergistic Dexterous Hand Framework Based on Delta Robots

DELTAHANDS is a synergistic dexterous hand framework that utilizes soft Delta robots. For more information on DELTAHANDS, please see our paper or the website.

Control

Arduino code includes low-level actuator PID control and communication between the microcontroller and the control pc.

Python code includes Delta robots' and hands' kinematics and communication between the micro-controller and the control pc.

Simulation

A URDF generator to generate Delta hand models.

A PyBullet simulation environment for manipulation.

Teleoperation

Teleoperation based on leap motion camera.

License

DELTAHANDS is licensed under MIT license.

Cite DELTAHANDS

If you use DELTAHANDS in your research, please cite:

@article{si2023deltahands,
  title={DELTAHANDS: A Synergistic Dexterous Hand Framework Based on Delta Robots},
  author={Si, Zilin and Zhang, Kevin and Kroemer, Oliver and Temel, F Zeynep},
  journal={arXiv preprint arXiv:2310.05266},
  year={2023}
}

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A Synergistic Dexterous Hand Framework Based on Delta Robots.

License:MIT License


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Language:Python 75.7%Language:C++ 24.3%