Fast Grasp Synthesis for Various Shaped Objects

Simple item page
dc.contributor.authorKyota, Fumihitoen_US
dc.contributor.authorSaito, Suguruen_US
dc.contributor.editorP. Cignoni and T. Ertlen_US
dc.date.accessioned2015-02-28T06:57:25Z
dc.date.available2015-02-28T06:57:25Z
dc.date.issued2012en_US
dc.description.abstractHuman-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.en_US
dc.description.seriesinformationComputer Graphics Forumen_US
dc.description.volume31
dc.identifier.doi10.1111/j.1467-8659.2012.03035.x
dc.identifier.issn1467-8659en_US
dc.identifier.urihttps://doi.org/10.1111/j.1467-8659.2012.03035.xen_US
dc.publisherThe Eurographics Association and John Wiley and Sons Ltd.en_US
dc.titleFast Grasp Synthesis for Various Shaped Objectsen_US
Files
Collections
31-Issue 2
Full Papers 2012 - CGF 31-Issue 2