ContactGrasp - Functional Multi-finger Grasp Synthesis from Contact
arXiv: Robotics, pp. 2386-2393, 2019.
Grasping and manipulating objects is an important human skill. Since most objects are designed to be manipulated by human hands, anthropomorphic hands can enable richer human-robot interaction. Desirable grasps are not only stable, but also functional: they enable post-grasp actions with the object. However, functional grasp synthesis for...More
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