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@RWR-GroupB

RWR-GroupB

Built an articulated robotic hand and programmed a robust controller with reinforcement learning
README.md

Dexterous Soft Robotic Hand

We are Andrina Frischknecht-Grimm, Shubham Gupta, Zeno Hamers, Deepana Ishtaweera and Robert Jomar Malate and we designed, built and controlled an articulated soft robotic hand from scratch! All repositories that were used and developed during this project can be found in the RWR-GroupB GitHub organisation. This project was conducted as part of the Real-World-Robotics course at ETH Zürich, an initiative from prof. Dr. R. Katzschmann and the Soft Robotics Lab. This README file will give you an overview of the results obtained in this project and the respective GitHub directories. A detailed overview of the robotic hand, our methodology and the final results can be found in our paper: The M&M Hand: a modular and minimal hand for four-fingered dexterous manipulations.

Reinforcement learning tasks (autonomous)

Ball Rotation Task

Simulation On Physical Robot

Cube Rotation Task

Simulation On Physical Robot

Teleoperation tasks

Hand Design and Simulation

For the design of the robotic hand, Fusion 360 was used. MuJoCo was used in combination with IsaacGym to simulate the robotic hand in a virtual environment for reinforcement learning purposes.

Real-World-Robotics 2023 Highlights (YouTube)

The Highlights of Real-World-Robotics 2023

Popular repositories Loading

  1. mujoco_hand_model mujoco_hand_model Public

    The code for the Mujoco model of the four fingered hand designed by our team

    2

  2. sim_control sim_control Public

    This has code code for teleoperation

    Python 1

  3. faive_gym_oss faive_gym_oss Public

    Forked from srl-ethz/faive_gym_oss

    Public repository of the RL environment for robotic hands and a simulated model of the Faive Hand (and also somewhat easily extendable to other robotic hands).

    Python 1

  4. sw-hw_bridge sw-hw_bridge Public

    Bridge to establish communications between the software and hardware

    CMake

  5. motor_control motor_control Public

    Control dynamixel motors

    Python

  6. gui_controller gui_controller Public

    GUI for displaying and sending information to hand.

    Python

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