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Combinatorial Optimization for Hierarchical Contact-level Grasping
We address the problem of generating force-closed point contact grasps on complex surfaces and model it as a combinatorial optimization …
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Hierarchical Fingertip Space for Multi-fingered Precision Grasping
Dexterous manipulation of objects by a robot system benefits from the ability to generate precise grasps. In this paper, we propose the …
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Grasp Moduli Spaces
We present a new approach for modeling grasping using an integrated space of grasps and shapes. In particular, we introduce an …
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Friction Coefficients and Grasp Synthesis
We propose a new concept called “friction sensitivity,” which measures how susceptible a specific grasp is to changes in …
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Improving Generalization for 3D Object Categorization with Global Structure Histograms
We propose a new object descriptor for three-dimensional data called the Global Structure Histogram (GSH). The GSH encodes the …
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