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Uploaded on Mar 12, 2010
Collecting grasp data for learning and benchmarking purposes is very expensive. It would be helpful to have a standard database of graspable objects, along with a set of stable grasps for each object,. We have constructed a database consisting of several hands, thousands of objects, and hundreds of thousands of grasps. Using this database, we demonstrate a novel grasp planning algorithm that exploits geometric similarity between a 3D model and the objects in the database to synthesize form closure grasps. Our contributions are this algorithm, and the database itself, which we are releasing to the community as a tool for both grasp planning and benchmarking. related paper: The Columbia Grasp Database Corey Goldfeder, Matei Ciocarlie, Hao Dang and Peter K. Allen, ICRA 2009