DexFuncGrasp: A Robotic Dexterous Functional Grasp Dataset Constructed from a Cost-Effective Real-Simulation Annotation System
Jinglue Hang,
Xiangbo Lin,
Tianqiang Zhu
et al.
Abstract:Robot grasp dataset is the basis of designing the robot's grasp generation model. Compared with the building grasp dataset for Low-DOF grippers, it is harder for High-DOF dexterous robot hand. Most current datasets meet the needs of generating stable grasps, but they are not suitable for dexterous hands to complete human-like functional grasp, such as grasp the handle of a cup or pressing the button of a flashlight, so as to enable robots to complete subsequent functional manipulation action autonomously, and … Show more
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