Dextrous robot hands
Robotic grasping of unknown objects: a knowledge-based approach
International Journal of Robotics Research
Dynamic simulation of non-penetrating flexible bodies
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
Planning motions with intentions
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
On computing multi-arm manipulation trajectories
On computing multi-arm manipulation trajectories
Human prehension and dexterous robot hands
International Journal of Robotics Research
Neural Network-Based Violinist's Hand Animation
CGI '00 Proceedings of the International Conference on Computer Graphics
Interactive Manipulation Planning for Animated Characters
PG '00 Proceedings of the 8th Pacific Conference on Computer Graphics and Applications
Construction and animation of anatomically based human hand models
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
Handrix: animating the human hand
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
Synthesizing animations of human manipulation tasks
ACM SIGGRAPH 2004 Papers
Learning physics-based motion style with nonlinear inverse optimization
ACM SIGGRAPH 2005 Papers
Physically based grasping control from example
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Helping hand: an anatomically accurate inverse dynamics solution for unconstrained hand motion
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Interaction capture and synthesis
ACM SIGGRAPH 2006 Papers
Optimization-based interactive motion synthesis
ACM Transactions on Graphics (TOG)
Dextrous manipulation from a grasping pose
ACM SIGGRAPH 2009 papers
Data-driven finger motion synthesis for gesturing characters
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Contact-invariant optimization for hand manipulation
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Contact-invariant optimization for hand manipulation
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Video-based hand manipulation capture through composite motion control
ACM Transactions on Graphics (TOG) - SIGGRAPH 2013 Conference Proceedings
Robust realtime physics-based motion control for human grasping
ACM Transactions on Graphics (TOG)
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We present an interactive physics-based motion synthesis technique for creating hand manipulation across a wide variety of tasks, objects, user interventions, and stylistic preferences. Given an object being manipulated, a single pose specifying the desired initial contact, and the kinematic goals of the manipulation, our algorithm automatically generates hand-object manipulation that is responsive to unscripted external disturbances. Our algorithm simulates the dynamic coupling between a passive dynamic system and an active dynamic system by formulating a sequence of constrained optimizations. This formulation allows the user to synthesize a manipulation task by describing simple, keyframe-like kinematic goals in the domain of object configuration. The algorithm will automatically produce the hand motion that achieves the kinematic goals via coupled dynamic equations of motion.