ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact
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by
Samarth Brahmbhatt, Ankur Handa, James Hays, Dieter Fox
2019
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-dof anthropomorphic hands from
object shape alone is challenging. We present ContactGrasp, a framework that
allows 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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