Hand Design System

Tested Platform

• Ubuntu 16.04, 18.04
• Windows 10 + Visual Studio 2019

How to run code?

Ubuntu

• Use CMake to compile the code

  cd RobotHandGrammar
  mkdir build
  cd build
  cmake ../ -DCMAKE_BUILD_TYPE=Release
  make
  

• Run the code

  cd build
  ./src/design
  

Windows 10

• CMake: Install latest version of cmake from link. Select the version 3.19.2, binary distribution > Windows win64-x64 ZIP
• g++: check whether your compute has installed g++ by opening the terminal and run g++ --version. If it shows some version information, then you are done with this step, otherwise you can install g++ from mingw.
• Visual Studio 2019: download and install visual studio 2019 from the official website. The community version is free. During installation, make sure to select the "Desktop development with C++" option in the "Workloads" tab. If you forget to do so during installation, you can also do it after installation by referring the solution in link.
• *clone the code", pick a folder you want to put the code in, open terminal in this folder, and run git clone https://github.com/eanswer/RoboticHandDesign.git.
• Configure the project:
  • open cmake-gui from the menu.
  • Select the RoboticHandDesign/Design/core folder as where is the source code, and set RoboticHandDesign/Design/core/build as where to build the binaries (create the folder if it is not there).
  • press Configure. Once it finishes, press Generate.
• Run the code:
  • Enter RoboticHandDesign/Design/core/build, double click HandDesign.sln to open the project in Visual Studio.
  • Find Design project in the Solution Explorer Panel, right click and select *Set as Startup Project".
  • Switch the mode from Debug to Release in the menu.
  • Now, if you press Ctrl + F5, you are able to run the code.

How does the UI work

• This UI provide the process to construct the palm structure by palm gramar, construct the finger structure by finger grammar, and change the morphology of the constructed palm and finger by cage-based deformation [Xu et al. 2021].
• The work flow is: Palm Grammar -> Finger Grammar -> Cage-based Deformation
• Once you press the finish in one stage, the system will enter the next stage.
• During the Palm Grammar and Finger Grammar stages, the applicable rules are displayed on the left panel.
• In the Cage-based Deformation, click the component on the object while pressing Ctrl button to select the component to change the shape. If the selected shape is allowed change its shape, its changeable parameters (i.e. cage parameters) are displayed on the left panel and you are able to drag there to change the values. If there is nothing shown on the left panel, it means the geometry of the selected part is not modifiable (either because of manufacture constraints or constrained by the shapes of other parts).

Citation

If you find our paper or the code is useful, please consider citing:

@inproceedings{Zlokapa2022hand,
  title={An Integrated Design Pipeline for Tactile Sensing Robotic Manipulators},
  author={Zlokapa, Lara and Luo, Yiyue and Xu, Jie and Foshey, Michael and Wu, Kui and Agrawal Pulkit and Matusik, Wojciech},
  booktitle={2022 International conference on robotics and automation (ICRA)},
  year={2022},
  organization={IEEE}
}