The Grasps Under Varied Object Orientation Dataset: Relation Between Grasps and Object Orientation

TL;DR

This paper investigates how object orientation affects grasp stability, showing that many stable grasps are consistent across orientations for symmetric objects, based on extensive human grasp data.

Contribution

It provides experimental evidence on the relation between object orientation and grasp types, highlighting the stability of certain grasps for symmetric objects in human planning.

Findings

Stable grasps are achieved with a small subset of grasp types.

Wrist-related parameters follow a normal distribution.

Object symmetry influences grasp stability across orientations.

Abstract

After a grasp has been planned, if the object orientation changes, the initial grasp may not have to be modified to accommodate the orientation change. For example, rotation of a cylinder by any amount around its centerline does not change its geometric shape relative to the grasper. Objects that can be approximated to solids of revolution or contain other geometric symmetries are prevalent in everyday life, and this information can be employed to improve the efficiency of existing grasp planning models. This paper experimentally investigates change in human-planned grasps under varied object orientations. With 13,440 recorded human grasps, our results indicate that during pick-and-place task of ordinary objects, stable grasps can be achieved with a small subset of grasp types, and the wrist-related parameters follow normal distribution.