Fast Grasp Learning for Novel Objects

  • Dawid Seredyński
  • Wojciech Szynkiewicz
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 440)


This paper presents a method for fast learning of dexterous grasps for unknown objects. We use two probabilistic models of each grasp type learned from a single demonstrated grasp example to generate many grasp candidates for new objects with unknown shapes. These models encode probability density functions representing relationship between fingers and object local features, and whole hand configuration that is particular to a grasp example, respectively. Both, in the training and in the grasp generation stage we use an incomplete 3D point cloud from a depth sensor. The results of simulation experiments performed with the BarrettHand gripper and several objects of different shapes indicate that the proposed learning approach is applicable in realistic scenarios.


Grasp learning Probabilistic models Kernel density estimation 



This project was financially supported by the National Centre for Research and Development grant no. PBS1/A3/8/2012.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Warsaw University of TechnologyWarsawPoland

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