Name
Abstract | ||
|---|---|---|
Grasping and manipulating objects is an important human skill. Since most objects are designed to be manipulated by human hands, anthropomorphic hands can enable richer human-robot interaction. Desirable grasps are not only stable, but also functional: they enable post-grasp actions with the object. However, functional grasp synthesis for high degree-of-freedom anthropomorphic hands from object shape alone is challenging. We present ContactGrasp, a framework for functional grasp synthesis from object shape and contact on the object surface. Contact can be manually specified or obtained through demonstrations. Our contact representation is object-centric and allows functional grasp synthesis even for hand models different than the one used for demonstration. Using a dataset of contact demonstrations from humans grasping diverse household objects, we synthesize functional grasps for three hand models and two functional intents. The project webpage is https://contactdb.cc.gatech.edu/contactgrasp.html. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/IROS40897.2019.8967960 | 2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) |
Field | DocType | Volume |
Computer vision,GRASP,Web page,Computer science,Artificial intelligence | Conference | abs/1904.03754 |
ISSN | Citations | PageRank |
2153-0858 | 2 | 0.37 |
References | Authors | |
0 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Samarth Brahmbhatt | 1 | 37 | 4.14 |
| Ankur Handa | 2 | 479 | 26.11 |
| James Hays | 3 | 3942 | 172.72 |
| Dieter Fox | 4 | 12306 | 1289.74 |