Shafii, Nima, S. Hamidreza Kasaei, and Luís Seabra Lopes. “Learning to grasp familiar objects using object view recognition and template matching.” IROS 2016.
Grasp template :
Local shape feature for graspable regions
spin-image feature
Global feature, the radius (distance from the CoM to the selected keypoint)
important to represent a stable grasp
Finger configuration
New objects that are similar to known ones (i.e. they are familiar) can be grasped in a similar way
As an example, if the robot knows how to grasp a pen, it may use the same grasp temple to take a marker