Hand-object information embedded dexterous grasping generation

Shuyang Ren, Yibiao Zhang, Jinglue Hang, Xiangbo Lin

Abstract: Highlights•A new grasp synthesis framework for dexterous hands based on hand-object interaction.•Cascaded finger joint angle estimation strategy to model hand-object interaction.•A refinement module with hand-object contact constraints to improve the grasp quality.•High grasping success rate for most experimental objects in multiple categories.