PoseIt: A Visual-Tactile Dataset of Holding Poses for Grasp Stability Analysis
Shubham Kanitkar,Helen Jiang,Wenzhen Yuan,Shubham Kanitkar,Helen Jiang,Wenzhen Yuan
When humans grasp objects in the real world, we often move our arms to hold the object in a different pose where we can use it. In contrast, typical lab settings only study the stability of the grasp immediately after lifting, without any subsequent re-positioning of the arm. However, the grasp stability could vary widely based on the object's holding pose, as the gravitational torque and gripper ...
