Multi-Finger Grasping Like Humans
Yuming Du,Philippe Weinzaepfel,Vincent Lepetit,Romain Brégier,Yuming Du,Philippe Weinzaepfel,Vincent Lepetit,Romain Brégier
Robots with multi-fingered grippers could perform advanced manipulation tasks for us if we were able to properly specify to them what to do. In this study, we take a step in that direction by making a robot grasp an object like a grasping demonstration performed by a human. We propose a novel optimization-based approach for transferring human grasp demonstrations to any multi-fingered grippers, wh...
