@INPROCEEDINGS{goldfedericra2009, 
author={Goldfeder, C. and Ciocarlie, M. and Hao Dang and Allen, P.K.}, 
booktitle={Robotics and Automation, 2009. ICRA '09. IEEE International Conference on}, title={The Columbia grasp database}, 
year={2009}, 
month={may}, 
volume={}, 
number={}, 
pages={1710 -1716}, 
keywords={3D model;Columbia grasp database;dexterous robotic grasping;geometric similarity;grasp planning algorithm;machine learning;robot hand;database management systems;dexterous manipulators;intelligent robots;learning (artificial intelligence);planning (artificial intelligence);}, 
doi={10.1109/ROBOT.2009.5152709}, 
ISSN={1050-4729}}