Grasp database based on the presssure maps of robotic gripper

摘要

Building a grasp database to identify stable hand configuration for grasping a novel object is extremely useful in robotics community, and several databases are available in the literature for this purpose. In this paper, we briefly review the grasp databases that are available in the literature and provide an overview of the grasp database that we intend to build for stable grasp identification. The proposed database will differ markedly from the present ones because we account for the contact pressure maps while grasping and evaluate the grasp in real-time based on the contact force and the contact area.