DMCA
Physically based grasping control from example (2005)
Cached
| Citations: | 47 - 6 self |
BibTeX
@MISC{Pollard05physicallybased,
author = {Nancy S. Pollard and Victor B. Zordan and K. Anjyo and P. Faloutsos (editors and Nancy S. Pollardy and Victor B. Zordanz},
title = {Physically based grasping control from example},
year = {2005}
}
Share
 |
 |
 |
 |
||
OpenURL
Abstract
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 difcult 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
Keyphrases
active component motion capture data interaction force realistic example apparent impact captured human motion two-hand interaction effective controller arm motion motion capture grasp example new motion task physical model small set everyday scenario animated human character controllable motion
