{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/contactgrasp-functional-multi-finger-grasp","title":"ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact","arxiv_id":"1904.03754","date":"2019-04-07","proceeding":null,"authors":["Samarth Brahmbhatt","Ankur Handa","James Hays","Dieter Fox"],"abstract":"Grasping and manipulating objects is an important human skill. Since most objects are designed to be manipulated by human hands, anthropomorphic hands can enable richer human-robot interaction. Desirable grasps are not only stable, but also functional: they enable post-grasp actions with the object. However, functional grasp synthesis for high degree-of-freedom anthropomorphic hands from object shape alone is challenging because of the large optimization space. We present ContactGrasp, a framework for functional grasp synthesis from object shape and contact on the object surface. Contact can be manually specified or obtained through demonstrations. Our contact representation is object-centric and allows functional grasp synthesis even for hand models different than the one used for demonstration. Using a dataset of contact demonstrations from humans grasping diverse household objects, we synthesize functional grasps for three hand models and two functional intents. The project webpage is https://contactdb.cc.gatech.edu/contactgrasp.html.","url_abs":"https://arxiv.org/abs/1904.03754v3","url_pdf":"https://arxiv.org/pdf/1904.03754v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"contactgrasp-functional-multi-finger-grasp","repo_url":"https://github.com/contactgrasp/dart","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"BSD-2-Clause"}},{"paper_slug":"contactgrasp-functional-multi-finger-grasp","repo_url":"https://github.com/contactgrasp/ros_thermal_grasp","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"NOASSERTION"}},{"paper_slug":"contactgrasp-functional-multi-finger-grasp","repo_url":"https://github.com/contactgrasp/thermal_grasp","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok"}},{"paper_slug":"contactgrasp-functional-multi-finger-grasp","repo_url":"https://github.com/contactgrasp/contactgrasp_data","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"none","reach":{"status":"ok"}}],"tasks":[{"task_slug":"object","task_name":"Object"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1904.03754","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}