ICRA'09 Paper Abstract


Paper FrA5.5

Goldfeder, Corey (Columbia University), Ciocarlie, Matei (Columbia University), Dang, Hao (Columbia University), Allen, Peter (Columbia University)

The Columbia Grasp Database

Scheduled for presentation during the Regular Sessions "Grasping - I" (FrA5), Friday, May 15, 2009, 09:50−10:10, Room: 403

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Grasping, Multifingered Hands


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.



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