Contact Transfer: A Direct, User-Driven Method for Human to Robot Transfer of Grasps and Manipulations
Arjun Lakshmipathy,Dominik Bauer,Cornelia Bauer,Nancy S. Pollard,Arjun Lakshmipathy,Dominik Bauer,Cornelia Bauer,Nancy S. Pollard
We present a novel method for the direct transfer of grasps and manipulations between objects and hands through utilization of contact areas. Our method fully preserves contact shapes, and in contrast to existing techniques, is not dependent on grasp families, requires no model training or grasp sampling, makes no assumptions about manipulator morphology or kinematics, and allows user control over...
