This repository contains implementations for the paper titled "Design and Control of Roller Grasper V2 for In-Hand Manipulation". Further information can be found at the project page
Uses MuJoCo physics engine and mujoco-py python wrapper.
Handcrafted policy demos:
python handcrafted_demos.py
Imitation learning:
python imitation_learning.py
Firmware and serial communication API can be found at rgSerial.
Coming soon...
The circuit diagram can be found in the paper.
Teensy 3.6: handles serial communication and low level controllers
SMPS2Dynamixel Adapter: used as power regulator for the whole circuit
Dynamixel DYNAMIXEL XM430-W350-T: base joints
Micro gear motors: pivot joints and roller joints
Dual MC33926 Motor Driver Carrier: dirve the Micro gear motors
If you find this work helpful, please cite with the following bibtex:
@INPROCEEDINGS{rollergrasperV2,
author={S. {Yuan} and L. {Shao} and C. L. {Yako} and A. {Gruebele} and J. K. {Salisbury}},
booktitle={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Design and Control of Roller Grasper V2 for In-Hand Manipulation},
year={2020}}