Browsing by Author "Nakahara, Ken"

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  • ItemOpen Access
    Learning Gentle Grasping Using Vision, Sound, and Touch
    (Technische Universität Dresden, 2025-03-11) Nakahara, Ken; Calandra, Roberto
    This dataset contains 1,500 robotic grasps collected for the paper of Learning Gentle Grasping Using Vision, Sound, and Touch. Additionally, we provide a description of this dataset and Python scripts to visualize the data and process raw data into a training dataset for a PyTorch model. The robotics system used consists of a multi-fingered robotic hand (16-DoF, Allegro Hand v4.0), 7-DoF robotic arms (xArm7), DIGIT tactile sensors, an RGB-D camera (Intel RealSense D435i), and a commodity microphone. The target object is a toy that emits sound when grasped strongly.