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The Columbia Grasp Database

Corey Goldfeder; Matei Ciocarlie; Hao Dang; Peter K. Allen

Title:
The Columbia Grasp Database
Author(s):
Goldfeder, Corey
Ciocarlie, Matei
Dang, Hao
Allen, Peter K.
Date:
Type:
Technical reports
Department:
Computer Science
Permanent URL:
Series:
Columbia University Computer Science Technical Reports
Part Number:
CUCS-042-08
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.
Subject(s):
Computer science
Applied mathematics
Item views:
297
Metadata:
text | xml

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