Generating random points in triangles
Graphics gems
Computer animation of knowledge-based human grasping
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
A novel cubic-order algorithm for approximating principal direction vectors
ACM Transactions on Graphics (TOG)
Physically based grasping control from example
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Interaction capture and synthesis
ACM SIGGRAPH 2006 Papers
Approximate convex decomposition of polyhedra
Proceedings of the 2007 ACM symposium on Solid and physical modeling
Data-Driven Grasp Synthesis Using Shape Matching and Task-Based Pruning
IEEE Transactions on Visualization and Computer Graphics
Grasp synthesis from low-dimensional probabilistic grasp models
Computer Animation and Virtual Worlds - CASA'2008 Special Issue
Dextrous manipulation from a grasping pose
ACM SIGGRAPH 2009 papers
Hand Posture Subspaces for Dexterous Robotic Grasping
International Journal of Robotics Research
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Grasp sensing for human-computer interaction
Proceedings of the fifth international conference on Tangible, embedded, and embodied interaction
Robust realtime physics-based motion control for human grasping
ACM Transactions on Graphics (TOG)
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Human-like grasp planning is difficult because a human hand has a high number of degrees of freedom, and there are many grasping styles depending on the shape of an object and purpose. We propose a fast grasp synthesis system which enables a user to choose the desired grasping styles from a set of grasp types in a human grasp taxonomy. Given a 3D model of an object, our system detects graspable positions and generates grasping hand postures in every applicable grasp types in the grasp taxonomy for each grasping position. Hand postures are generated separately for each digit, and hand alignment is then refined iteratively. A user can also specify the grasping position by moving the cursor onto object surface, as well as grasp type. The generated hand postures are shown as a table of thumbnail images, and the user can select the grasping hand posture by clicking on one of those postures. Our system enables interactive generation of various grasping hand postures in real time. © 2012 Wiley Periodicals, Inc.