Robot Hardware¶
Manipulator Arms¶
Position-Controlled Robots¶
- Kuka KR series
- Universal Robots (UR series)
- Franka Emika Panda
Torque-Controlled Robots¶
- Kuka iiwa
- ABB YuMi
- Boston Dynamics arms
End Effectors¶
Grippers¶
- Parallel jaw grippers
- Angular grippers
- Vacuum grippers
Dexterous Hands¶
- Shadow Hand
- Allegro Hand
- Robotiq 3-Finger
Sensors¶
Proprioception¶
- Encoders (incremental/absolute)
- Torque sensors
- IMUs
Exteroception¶
- RGB-D cameras (RealSense, Azure Kinect)
- Force/torque sensors
- Tactile sensors
Hardware Integration¶
Drake provides abstraction through HardwareStation for integrating real robot hardware.
