A shape matching algorithm for synthesizing humanlike enveloping grasps

@article{Li2005ASM,
  title={A shape matching algorithm for synthesizing humanlike enveloping grasps},
  author={Ying Li and Nancy S. Pollard},
  journal={5th IEEE-RAS International Conference on Humanoid Robots, 2005.},
  year={2005},
  pages={442-449}
}
Humanoid robots must be capable of interacting with the world using their hands. A variety of humanlike robot hands have been constructed, but it remains difficult to control these hands in a dexterous way. One challenge is grasp synthesis, where we wish to place the hand and control its shape to successfully grasp a given object. In this paper, we present a datadriven approach to grasp synthesis that treats grasping as a shape matching problem. We begin with a database of grasp examples. Given… CONTINUE READING
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