Abstract
This paper presents a modeling method for household objects for object fetching. Grasps for household objects are selected according to the intended use of the object. It is necessary to consider the functionality of the object for modeling. Our method, first divides the body of a household object into one or more parts in terms of its handling function. The functional parts are connected to each other with a link which has a joint attribute according to the parts configuration. The method offers an intuitive model for object fetching.
