Title :
The Columbia grasp database
Author :
Goldfeder, Corey ; Ciocarlie, Matei ; Dang, Hao ; Allen, Peter K.
Author_Institution :
Dept. of Comput. Sci., Columbia Univ., New York, NY, USA
Abstract :
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.
Keywords :
database management systems; dexterous manipulators; intelligent robots; learning (artificial intelligence); planning (artificial intelligence); 3D model; Columbia grasp database; dexterous robotic grasping; geometric similarity; grasp planning algorithm; machine learning; robot hand; Computational geometry; Computational modeling; Data gloves; Humans; Large-scale systems; Robotics and automation; Robots; Solid modeling; Spatial databases; Training data;
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2009.5152709
