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arXiv · 1812.11683

A dataset of 40K naturalistic 6-degree-of-freedom robotic grasp demonstrations

Rajan Iyengar·Victor Reyes Osorio·Presish Bhattachan·Adrian Ragobar·Bryan Tripp
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Abstract

Modern approaches to grasp planning often involve deep learning. However, there are only a few large datasets of labelled grasping examples on physical robots, and available datasets involve relatively simple planar grasps with two-fingered grippers. Here we present: 1) a new human grasp demonstration method that facilitates rapid collection of naturalistic grasp examples, with full six-degree-of-freedom gripper positioning; and 2) a dataset of roughly forty thousand successful grasps on 109 different rigid objects with the RightHand Robotics three-fingered ReFlex gripper.

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Rajan Iyengar, Victor Reyes Osorio, Presish Bhattachan, Adrian Ragobar, Bryan Tripp. 2018-12-31. A dataset of 40K naturalistic 6-degree-of-freedom robotic grasp demonstrations. https://arxiv.org/abs/1812.11683

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