Constructing force-closure grasps
International Journal of Robotics Research
International Journal of Robotics Research
Human grasp choice and robotic grasp analysis
Dextrous robot hands
Quantitative Steinitz's theorems with applications to multifingered grasping
STOC '90 Proceedings of the twenty-second annual ACM symposium on Theory of computing
Computer animation of knowledge-based human grasping
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
A survey of moment-based techniques for unoccluded object representation and recognition
CVGIP: Graphical Models and Image Processing
Inverse kinematics positioning using nonlinear programming for highly articulated figures
ACM Transactions on Graphics (TOG)
A multi-sensor approach for grasping and 3D interaction
Computer graphics
Grasp metrics: optimality and complexity
WAFR Proceedings of the workshop on Algorithmic foundations of robotics
On computing four-finger equilibrium and force-closure grasps of polyhedral objects
International Journal of Robotics Research
COSMOS-A Representation Scheme for 3D Free-Form Objects
IEEE Transactions on Pattern Analysis and Machine Intelligence
Human prehension and dexterous robot hands
International Journal of Robotics Research
Using Spin Images for Efficient Object Recognition in Cluttered 3D Scenes
IEEE Transactions on Pattern Analysis and Machine Intelligence
ACM Transactions on Graphics (TOG)
Interpolation Synthesis of Articulated Figure Motion
IEEE Computer Graphics and Applications
Nearest Neighbor Classification in 3D Protein Databases
Proceedings of the Seventh International Conference on Intelligent Systems for Molecular Biology
Shape-Similarity Search of 3D Models by using Enhanced Shape Functions
TPCG '03 Proceedings of the Theory and Practice of Computer Graphics 2003
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
Pattern Classification (2nd Edition)
Pattern Classification (2nd Edition)
A Survey of Content Based 3D Shape Retrieval Methods
SMI '04 Proceedings of the Shape Modeling International 2004
SMI '04 Proceedings of the Shape Modeling International 2004
Synthesizing animations of human manipulation tasks
ACM SIGGRAPH 2004 Papers
Automated extraction and parameterization of motions in large data sets
ACM SIGGRAPH 2004 Papers
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
Overarching framework for measuring closeness to singularities of parallel manipulators
IEEE Transactions on Robotics
Visual quality measures for Characterizing Planar robot grasps
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
Real-time hand-tracking with a color glove
ACM SIGGRAPH 2009 papers
Hand Posture Subspaces for Dexterous Robotic Grasping
International Journal of Robotics Research
Database-Driven Grasp Synthesis and Ergonomic Assessment for Handheld Product Design
ICDHM '09 Proceedings of the 2nd International Conference on Digital Human Modeling: Held as Part of HCI International 2009
Grasp planning by alignment of pairwise shape descriptorss
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A hybrid approach for grasping 3D objects
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Data-driven grasping with partial sensor data
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A new strategy combining empirical and analytical approaches for grasping unknown 3D objects
Robotics and Autonomous Systems
Interactive teaching of task-oriented robot grasps
Robotics and Autonomous Systems
An overview of 3D object grasp synthesis algorithms
Robotics and Autonomous Systems
A 3D shape segmentation approach for robot grasping by parts
Robotics and Autonomous Systems
A biomimetic reach and grasp approach for mechanical hands
Robotics and Autonomous Systems
Fast Grasp Synthesis for Various Shaped Objects
Computer Graphics Forum
Graspable parts recognition in man-made 3d shapes
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part II
Robust realtime physics-based motion control for human grasping
ACM Transactions on Graphics (TOG)
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Human grasps, especially whole-hand grasps, are difficult to animate because of the high number of degrees of freedom of the hand and the need for the hand to conform naturally to the object surface. Captured human motion data provides us with a rich source of examples of natural grasps. However, for each new object, we are faced with the problem of selecting the best grasp from the database and adapting it to that object. This paper presents a data-driven approach to grasp synthesis. We begin with a database of captured human grasps. To identify candidate grasps for a new object, we introduce a novel shape matching algorithm that matches hand shape to object shape by identifying collections of features having similar relative placements and surface normals. This step returns many grasp candidates, which are clustered and pruned by choosing the grasp best suited for the intended task. For pruning undesirable grasps, we develop an anatomically-based grasp quality measure specific to the human hand. Examples of grasp synthesis are shown for a variety of objects not present in the original database. This algorithm should be useful both as an animator tool for posing the hand and for automatic grasp synthesis in virtual environments.