The Columbia grasp database

Articles:

Title:: The Columbia grasp database
Author(s):: Goldfeder, Corey
Ciocarlie, Matei
Dang, Hao
Allen, Peter K.
Date:: 2009
Type:: Articles
Department:: Computer Science
Permanent URL:: http://hdl.handle.net/10022/AC:P:15123
Book/Journal Title:: ICRA 2009: 2009 IEEE International Conference on Robotics and Automation: Kobe, Japan : May 12-17, 2009
Publisher:: IEEE
Publisher Location:: Piscataway, N.J.
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):: Robotics
Artificial intelligence
DOI:: http://dx.doi.org/10.1109/ROBOT.2009.5152709