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We propose a new large-scale database containing grasps that are applied to a large set of objects from numerous categories. These grasps are generated in simulation and are annotated with different grasp stability metrics. We use a descriptive and efficient representation of the local object shape at which each grasp is applied. Given this data, we present a two-fold analysis: (i) We use crowdsourcing...
We present a novel method for three-finger precision grasp and its implementation in a complete grasping tool-chain. We start from binocular vision to recover the partial 3D structure of unknown objects. We then process the incomplete 3D point clouds searching for good triplets according to a function that accounts for both the feasibility and the stability of the solution. In particular, while stability...
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