Building the iCub robot hand

[ritwikavaneesh]

Hi, I am an independent researcher. I would like to replicate just the i-cub robotic hand. How do I go about doing this ? Looking at the repositories is quite overwhelming. It would be nice if someone could direct me to the right resource pages to get started. Firstly I would like to know how to simulate it ? secondly, the right CAD files to start the mechanical build and then integrating it with the right electronics SW and FW . Is there an assembly instruction file available that details out step by step to do this. Thank you for your responses in advance.

[pattacini]

Hi @ritwikavaneesh

You may want to refer to our documentation as well as our HW repositories (mechanics, electronics, wiring).

To experiment with the hand in simulation, you may consider giving a try to https://github.com/robotology/icub-gazebo-grasping-sandbox.