Allegro Hand



ROS Software Maintainer: Sean Yi < >

Allegro Hand ROS stack: allegro_hand_ros

IMPORTANT: This software is compatible with both 32-bit and 64-bit systems. Make sure to install the correct Allegro Hand Grasping library: libBHand

Tested and working on:
Allegro Hand V3

Ubuntu 12.04 LTS (kernel 3.2.0 - 3.13.0), ROS Fuerte
Ubuntu 12.04 - 14.04 LTS (kernel 3.13.0), ROS Groovy
ROS Indigo (and beyond) with this fork:

Note: Extremely unstable control on ROS Electric. Also, no rviz visualization.

Allegro Hand V4(Currently supported)
Ubuntu 16.04 LTS (4.15.0-106-generic), ROS Kinetic
ROS Kinetic with this fork:

Note: Support rviz visualization.


Allegro Hand is a low-cost and highly adaptive robotic hand.
With four fingers and sixteen independent torque-controlled joints,
it's the perfect platform for grasp and manipulation research.

  • Lightweight and portable anthropomorphic design
  • Low-cost dexterous manipulation with applications in research and industry
  • Multiple ready-to-use sensorless grasping algorithms capable of handling a variety of object geometries
  • Capable of holding over 1.5kg
  • 16 independent torque-controlled joints (4 fingers x 4 DOF ea.)
  • Support for real-time control and online simulation
  • ROS integration

More information can be found on the Allegro Hand wiki:


See the README file included in the package.

Hardware and software documentation as well as purchasing information can be found on the Allegro Hand wiki:

Using ROS



See the Allegro Hand stack wiki page for installation instructions.

catkin-compatible fork

An unofficial updated fork of the Wonikrobotics ROS package is available here(for Allegro Hand v3). It is compatible with modern ROS versions (i.e. catkin), integrates everything into a single launch file, and provides several other improvements.


If you would like to contribute to the ROS software for Wonikrobotics's Allegro hand, please contact Wonikrobotics < >. Thank you.

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Wiki: Robots/AllegroHand (last edited 2021-02-10 02:21:29 by kezi)