A Reflective Symmetry Descriptor
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part II
3D zernike descriptors for content based shape retrieval
SM '03 Proceedings of the eighth ACM symposium on Solid modeling and applications
A planar-reflective symmetry transform for 3D shapes
ACM SIGGRAPH 2006 Papers
Soft Finger Model with Adaptive Contact Geometry for Grasping and Manipulation Tasks
WHC '07 Proceedings of the Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Robotic Grasping of Novel Objects using Vision
International Journal of Robotics Research
Autotagging to improve text search for 3d models
Proceedings of the 8th ACM/IEEE-CS joint conference on Digital libraries
Manipulation of unmodeled objects using intelligent grasping schemes
IEEE Transactions on Fuzzy Systems
A design and analysis tool for underactuated compliant hands
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Data-driven grasping with partial sensor data
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Efficient grasp planning with reachability analysis
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part I
Synthesizing grasp configurations with specified contact regions
International Journal of Robotics Research
Autonomous Robots
Combined 2D-3D categorization and classification for multimodal perception systems
International Journal of Robotics Research
Scene parsing using a prior world model
International Journal of Robotics Research
A 3D shape segmentation approach for robot grasping by parts
Robotics and Autonomous Systems
Perceiving affordances: A computational investigation of grasping affordances
Cognitive Systems Research
Fast Grasp Synthesis for Various Shaped Objects
Computer Graphics Forum
Combining marker-based mocap and RGB-D camera for acquiring high-fidelity hand motion data
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Combining marker-based mocap and RGB-D camera for acquiring high-fidelity hand motion data
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
ACM Transactions on Graphics (TOG)
Stable grasping under pose uncertainty using tactile feedback
Autonomous Robots
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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, but no such database exists. In this work we show how to automate the construction of 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.