3D models of the objects selected (from YCB set) for the different grasp types in the Anthropomorphic Hand Assessment Protocol (AHAP)

This repository contains the 3D models in PLY format of the 24 objects used in the eight different grasp types of the published Anthropomorphic Hand Assessment Protocol (AHAP) (https://doi.org/10.1016/j.robot.2019.103259). The physical objects are from the Yale-CMU-Berkeley Object and Model Set (https://doi.org/10.1109/MRA.2015.2448951). The models were generated with SolidWorks, Blender and 3D scan.

This work was supported by the Spanish Ministry of Economy and Competitiveness and ESF [grant number BES-2015-076005]; the Spanish Ministry of Economy and Competitiveness, AEI and ERDF [grant numbers DPI2014-60635-R, DPI2017-89910-R]; and Universitat Jaume I, Spain [grant number UJI-B2017-70].

Related Organizations

Jaume I University
Spain

Keywords

robotics, grasping, 3D models

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