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A Multi-sensor Approach for Grasping and 3D Interaction

Huang, Z. and Boulic, R. and Magnenat-Thalmann, N. and Thalmann, D.


Abstract: In this paper, we propose a multi-sensor based method of automatic grasping motion control for multiple synthetic actors. Despite the fact that it is described and implemented in our specific model, the method is general and can be applicable to other models. A heuristic method is defined to decide the different grasping strategies from object geometry, hand geometry and observation of real grasping. Inverse kinematics can derive the final posture of the arms in order to bring the hands around the object. Multi-sensor object detection decides the finger contact points on the object and determine their position and orientation. Then, a group of polynomials derived from Euler-Lagrange equation is used to interpolate between the initial and final arm postures resulting in a more realistic real-time motion than linear interpolation. We also present 3D interactive grasping examples involving multiple synthetic actors.


@inproceedings{39,
  booktitle = {Proc. Computer Graphics International '95},
  author = {Huang, Z. and Boulic, R. and Magnenat-Thalmann, N. and Thalmann, D.},
  title = {A Multi-sensor Approach for Grasping and 3D Interaction},
  publisher = {Academic Press},
  pages = {235-254},
  year = {1995},
  topic = {Motion Capture, Body Animation and Control}
}