Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generation

We introduce the sequential multi-object robotic grasp sampling algorithm SeqGrasp that can robustly synthesize stable grasps on diverse objects using the robotic hand's partial Degrees of Freedom (DoF). We use SeqGrasp to construct the large-scale Allegro Hand sequential grasping dataset SeqDa...

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Veröffentlicht in:	IEEE robotics and automation letters Jg. 10; H. 11; S. 11880 - 11887
Hauptverfasser:	Lu, Haofei, Dong, Yifei, Weng, Zehang, Pokorny, Florian T., Lundell, Jens, Kragic, Danica
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Piscataway IEEE 01.11.2025 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Data Sets for Robot Learning Degrees of freedom Dexterous Manipulation End effectors Grasping Grasping (robotics) Hands Kinematics Robot learning Robots Silicon Thumb Training Visualization
ISSN:	2377-3766, 2377-3766
Online-Zugang:	Volltext
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