10.7916/D8VQ39KH
The Columbia Grasp Database
Columbia University
2008
2017-06-16
2018-08-30
Goldfeder, Corey
Ciocarlie, Matei
Dang, Hao
Allen, Peter K.
Computer science
Mathematics
Columbia University. Computer Science
Reports
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.