Functional grasp transfer across a category of objects from only one labeled instance

R Wu, T Zhu, W Peng, J Hang… - IEEE Robotics and …, 2023 - ieeexplore.ieee.org
R Wu, T Zhu, W Peng, J Hang, Y Sun
IEEE Robotics and Automation Letters, 2023ieeexplore.ieee.org
To assist or replace human beings in completing various tasks, research on the functional
grasp synthesis of dexterous hands with high degree-of-freedom (DoF) is necessary and
challenging. The dexterous functional grasp requires not only that the grasp is stable but
more importantly facilitates the functional manipulation after grasping. Such work still relies
on manual annotation when collecting data. To this end, we propose a category-level multi-
fingered functional grasp transfer framework, in which we only need to label the hand-object …
To assist or replace human beings in completing various tasks, research on the functional grasp synthesis of dexterous hands with high degree-of-freedom (DoF) is necessary and challenging. The dexterous functional grasp requires not only that the grasp is stable but more importantly facilitates the functional manipulation after grasping. Such work still relies on manual annotation when collecting data. To this end, we propose a category-level multi-fingered functional grasp transfer framework, in which we only need to label the hand-object contact relationship on functional parts of one object, and then transfer the contact information through the dense correspondence of functional parts between objects, so as to achieve the functional grasp synthesis for new objects based on the transferred hand-object contact information. We verify this method on three categories of representative objects through simulation experiments and achieve successful functional grasps by labeling only one instance in each category.
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