Sampling and quality metric estimation of bimanual grasps for multifingered robotic hands

António Dinis, Plinio Moreno

Keywords: Bi-manual grasping, humanoid robotic hands, dataset generation

Abstract: We introduce a tool for sampling bimanual grasps with humanoid hands, as well as the study of quality metrics for bimanual grasps. The grasp sampler has three stages: (i) generating single hand grasps for left and right hand grasps, (ii) selecting pairs of right and left hand grasps to build bimanual grasps and, (iii) computing the bimanual grasp quality metrics. Our dataset includes 8363 humanoid bimanual grasps, using 48 objects from Shapenet. The dataset and the software is available online, at https://shorturl.at/rBhiv

Submission Number: 6