Rating is available when the video has been rented.
This feature is not available right now. Please try again later.
Published 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