Grasp Multiple Objects with One Hand

arXiv:2310.15599v2 Announce Type: replace-cross
Abstract: The intricate kinematics of the human hand enable simultaneous grasping and manipulation of multiple objects, essential for tasks such as object transfer and in-hand manipulation. Despite its significance, the domain of robotic multi-object grasping is relatively unexplored and presents notable challenges in kinematics, dynamics, and object configurations. This paper introduces MultiGrasp, a novel two-stage approach for multi-object grasping using a dexterous multi-fingered robotic hand on a tabletop. The process consists of (i) generating pre-grasp proposals …

abstract arxiv challenges cs.cv cs.ro domain dynamics grasping human manipulation multiple object objects paper robotic significance tasks transfer type