The control of hand equilibrium trajectories in multi-joint arm movements
Biological Cybernetics
Computer animation of knowledge-based human grasping
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
SIGGRAPH '93 Proceedings of the 20th annual conference on Computer graphics and interactive techniques
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Automated learning of muscle-actuated locomotion through control abstraction
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Limit cycle control and its application to the animation of balancing and walking
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Human prehension and dexterous robot hands
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Composable controllers for physics-based character animation
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Motion capture-driven simulations that hit and react
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Neural Network-Based Violinist's Hand Animation
CGI '00 Proceedings of the International Conference on Computer Graphics
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
Mapping optical motion capture data to skeletal motion using a physical model
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
Motion Perturbation Based on Simple Neuromotor Control Models
PG '03 Proceedings of the 11th Pacific Conference on Computer Graphics and Applications
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PG '03 Proceedings of the 11th Pacific Conference on Computer Graphics and Applications
VR '05 Proceedings of the 2005 IEEE Conference 2005 on Virtual Reality
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I3D '06 Proceedings of the 2006 symposium on Interactive 3D graphics and games
An intelligent virtual piano tutor
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ACM SIGGRAPH 2006 Papers
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Data-Driven Grasp Synthesis Using Shape Matching and Task-Based Pruning
IEEE Transactions on Visualization and Computer Graphics
Proceedings of the 2007 ACM SIGGRAPH symposium on Video games
Gesture modeling and animation based on a probabilistic re-creation of speaker style
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HandNavigator: hands-on interaction for desktop virtual reality
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Simple Feedforward Control for Responsive Motion Capture-Driven Simulations
ISVC '08 Proceedings of the 4th International Symposium on Advances in Visual Computing
Dextrous manipulation from a grasping pose
ACM SIGGRAPH 2009 papers
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Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Toward a vision based hand gesture interface for robotic grasping
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Handshake: Realistic human-robot interaction in haptic enhanced virtual reality
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Modeling relaxed hand shape for character animation
AMDO'06 Proceedings of the 4th international conference on Articulated Motion and Deformable Objects
Grasp motion synthesis based on object features
AMDO'06 Proceedings of the 4th international conference on Articulated Motion and Deformable Objects
An animation system for imitation of object grasping in virtual reality
ICAT'06 Proceedings of the 16th international conference on Advances in Artificial Reality and Tele-Existence
Sleight of hand: perception of finger motion from reduced marker sets
I3D '12 Proceedings of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
Synthesis of detailed hand manipulations using contact sampling
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Eyecatch: simulating visuomotor coordination for object interception
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Fast Grasp Synthesis for Various Shaped Objects
Computer Graphics Forum
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ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
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Computer Graphics Forum
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)
ACM Transactions on Graphics (TOG)
Technical Section: Goal directed multi-finger manipulation: Control policies and analysis
Computers and Graphics
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Animated human characters in everyday scenarios must interact with the environment using their hands. Captured human motion can provide a database of realistic examples. However, examples involving contact are difficult to edit and retarget; realism can suffer when a grasp does not appear secure or when an apparent impact does not disturb the hand or the object. Physically based simulations can preserve plausibility through simulating interaction forces. However, such physical models must be driven by a controller, and creating effective controllers for new motion tasks remains a challenge. In this paper, we present a controller for physically based grasping that draws from motion capture data. Our controller explicitly includes passive and active components to uphold compliant yet controllable motion, and it adds compensation for movement of the arm and for gravity to make the behavior of passive and active components less dependent on the dynamics of arm motion. Given a set of motion capture grasp examples, our system solves for all but a small set of parameters for this controller automatically. We demonstrate results for tasks including grasping and two-hand interaction and show that a controller derived from a single motion capture example can be used to form grasps of different object geometries.