This repository is the code base of the DeltaHands development. The research outputs include DELTAHANDS published on RA-L and Tilde published on RSS24. Please read below for more details.
DELTAHANDS is a synergistic dexterous hand framework that utilizes soft Delta robots. For more information, please see our paper or the website.
Arduino code includes low-level actuator PID control and communication between the microcontroller and the control pc.
Code for Delta robots' and hands' kinematics and communication between the micro-controller and the control pc.
A URDF generator to generate Delta hand models.
A PyBullet simulation environment for manipulation.
Teleoperation based on a leap motion camera.
Tilde is an imitation learning-based in-hand manipulation system extended from DELTAHANDS. For more information, please see our paper or the website.
Arduino code includes the communication between 1) the DeltaHand and the control pc, and 2) the TeleHand and the control pc.
Teleoperation based on the kinematic twin interface, TeleHand.
Learning framework is built base on Diffusion Policy. Data preprocessing, training and inference code are included.
DELTAHANDS and Tilde are licensed under MIT license.
If you use DELTAHANDS in your research, please cite:
@article{si2024deltahands,
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={IEEE Robotics and Automation Letters},
year={2024},
publisher={IEEE}
}If you use Tilde in your research, please cite:
@article{si2024tilde,
title={Tilde: Teleoperation for Dexterous In-Hand Manipulation Learning with a DeltaHand},
author={Si, Zilin and Zhang, Kevin Lee and Temel, Zeynep and Kroemer, Oliver},
journal={arXiv preprint arXiv:2405.18804},
year={2024}
}