The Columbia grasp database (2009)
| Venue: | IEEE Intl. Conf. on Robotics and Automation |
| Citations: | 7 - 4 self |
BibTeX
@INPROCEEDINGS{Goldfeder09thecolumbia,
author = {Corey Goldfeder and Matei Ciocarlie and Hao Dang and Peter K. Allen},
title = {The Columbia grasp database},
booktitle = {IEEE Intl. Conf. on Robotics and Automation},
year = {2009}
}
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Abstract
Abstract — 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. I.
