ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact
2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)(2019)
摘要
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.
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关键词
object shape,functional grasp synthesis,object surface,hand models,humans grasping,household objects,functional intents,functional multifinger grasp synthesis,manipulating objects,human skill,human hands,human-robot interaction,desirable grasps,post-grasp actions,degree-of-freedom anthropomorphic hands,object-centric representation
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