Goldfeder Corey author Columbia University. Computer Science Ciocarlie Matei author Columbia University. Computer Science Dang Hao author Columbia University. Computer Science Allen Peter K. author Columbia University. Computer Science Columbia University. Computer Science originator text Articles 2009 English 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. Robotics Artificial intelligence Piscataway, N.J. IEEE 2009 1710 1716 http://dx.doi.org/10.1109/ROBOT.2009.5152709 http://hdl.handle.net/10022/AC:P:15123 NNC NNC 2012-10-31 13:13:49 -0400 2012-10-31 13:37:48 -0400 9125 eng