Multi-Object Grasping - Types and Taxonomy
Yu Sun,Eliza Amatova,Tianze Chen,Yu Sun,Eliza Amatova,Tianze Chen
This paper proposes 12 multi-object grasps (MOGs) types from a human and robot grasping data set. The grasp types are then analyzed and organized into a MOG taxonomy. This paper first presents three MOG data collection setups: a human finger tracking setup for multi-object grasping demonstrations, a real system with Barretthand, UR5e arm, and a MOG algorithm, a simulation system with the same sett...
