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Robust realtime physics-based motion control for human grasping

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Jinxiang ChaiAuthors Info & Claims

ACM Transactions on Graphics (TOG), Volume 32, Issue 6

Article No.: 207, Pages 1 - 12

https://doi.org/10.1145/2508363.2508412

Published: 01 November 2013 Publication History

Abstract

This paper presents a robust physics-based motion control system for realtime synthesis of human grasping. Given an object to be grasped, our system automatically computes physics-based motion control that advances the simulation to achieve realistic manipulation with the object. Our solution leverages prerecorded motion data and physics-based simulation for human grasping. We first introduce a data-driven synthesis algorithm that utilizes large sets of prerecorded motion data to generate realistic motions for human grasping. Next, we present an online physics-based motion control algorithm to transform the synthesized kinematic motion into a physically realistic one. In addition, we develop a performance interface for human grasping that allows the user to act out the desired grasping motion in front of a single Kinect camera. We demonstrate the power of our approach by generating physics-based motion control for grasping objects with different properties such as shapes, weights, spatial orientations, and frictions. We show our physics-based motion control for human grasping is robust to external perturbations and changes in physical quantities.

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Cited By

Lougiakis CGonzález JGanias GKatifori AIoannis-Panagiotis Roussou M(2024)Comparing Physics-based Hand Interaction in Virtual Reality: Custom Soft Body Simulation vs. Off-the-Shelf Integrated Solution2024 IEEE Conference Virtual Reality and 3D User Interfaces (VR)10.1109/VR58804.2024.00094(743-753)Online publication date: 16-Mar-2024
https://doi.org/10.1109/VR58804.2024.00094
Zhang WHuang MZhou YZhang JYu JWang JXu L(2024)BOTH2Hands: Inferring 3D Hands from Both Text Prompts and Body Dynamics2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)10.1109/CVPR52733.2024.00232(2393-2404)Online publication date: 16-Jun-2024
https://doi.org/10.1109/CVPR52733.2024.00232
Taheri OZhou YTzionas DZhou YCeylan DPirk SBlack M(2024)GRIP: Generating Interaction Poses Using Spatial Cues and Latent Consistency2024 International Conference on 3D Vision (3DV)10.1109/3DV62453.2024.00064(933-943)Online publication date: 18-Mar-2024
https://doi.org/10.1109/3DV62453.2024.00064
Show More Cited By

Index Terms

Robust realtime physics-based motion control for human grasping
1. Computing methodologies
  1. Computer graphics
    1. Animation
    2. Graphics systems and interfaces
2. Human-centered computing
  1. Human computer interaction (HCI)
    1. Interaction devices
      1. Graphics input devices

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Published In

cover image ACM Transactions on Graphics

ACM Transactions on Graphics Volume 32, Issue 6

November 2013

671 pages

ISSN:0730-0301

EISSN:1557-7368

DOI:10.1145/2508363

Issue’s Table of Contents

Copyright © 2013 ACM.

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Publication History

Published: 01 November 2013

Published in TOG Volume 32, Issue 6

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Cited By

Lougiakis CGonzález JGanias GKatifori AIoannis-Panagiotis Roussou M(2024)Comparing Physics-based Hand Interaction in Virtual Reality: Custom Soft Body Simulation vs. Off-the-Shelf Integrated Solution2024 IEEE Conference Virtual Reality and 3D User Interfaces (VR)10.1109/VR58804.2024.00094(743-753)Online publication date: 16-Mar-2024
https://doi.org/10.1109/VR58804.2024.00094
Zhang WHuang MZhou YZhang JYu JWang JXu L(2024)BOTH2Hands: Inferring 3D Hands from Both Text Prompts and Body Dynamics2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)10.1109/CVPR52733.2024.00232(2393-2404)Online publication date: 16-Jun-2024
https://doi.org/10.1109/CVPR52733.2024.00232
Taheri OZhou YTzionas DZhou YCeylan DPirk SBlack M(2024)GRIP: Generating Interaction Poses Using Spatial Cues and Latent Consistency2024 International Conference on 3D Vision (3DV)10.1109/3DV62453.2024.00064(933-943)Online publication date: 18-Mar-2024
https://doi.org/10.1109/3DV62453.2024.00064
Lakshmipathy AFeng NLee YMahler MPollard N(2023)Contact Edit: Artist Tools for Intuitive Modeling of Hand-Object InteractionsACM Transactions on Graphics10.1145/359211742:4(1-20)Online publication date: 26-Jul-2023
https://dl.acm.org/doi/10.1145/3592117
Adkins ANormoyle ALin LSun YYe YDi Luca MJörg S(2023)How Important are Detailed Hand Motions for Communication for a Virtual Character Through the Lens of Charades?ACM Transactions on Graphics10.1145/357857542:3(1-16)Online publication date: 31-May-2023
https://dl.acm.org/doi/10.1145/3578575
Tong QWei WZhang YXiao JWang D(2023)Survey on Hand-Based Haptic Interaction for Virtual RealityIEEE Transactions on Haptics10.1109/TOH.2023.326619916:2(154-170)Online publication date: 1-Apr-2023
https://dl.acm.org/doi/10.1109/TOH.2023.3266199
Wang HLiu FYi RMa L(2023)Learning Torso Prior for Co-Speech Gesture Generation with Better Hand Shape2023 IEEE International Conference on Image Processing (ICIP)10.1109/ICIP49359.2023.10222259(1-5)Online publication date: 8-Oct-2023
https://doi.org/10.1109/ICIP49359.2023.10222259
Zheng YShi YCui YZhao ZLuo ZZhou W(2023)COOP: Decoupling and Coupling of Whole-Body Grasping Pose Generation2023 IEEE/CVF International Conference on Computer Vision (ICCV)10.1109/ICCV51070.2023.00206(2163-2173)Online publication date: 1-Oct-2023
https://doi.org/10.1109/ICCV51070.2023.00206
Jiang HWeng DSong ZDongye XZhang Z(2023)DexHand: dexterous hand manipulation motion synthesis for virtual realityVirtual Reality10.1007/s10055-023-00810-227:3(2341-2356)Online publication date: 30-May-2023
https://dl.acm.org/doi/10.1007/s10055-023-00810-2
Zhao LMakino KKondo YYamada KSun XTerada H(2022)Development of a Finger Force Measurement System for Hand Grasp Motion EvaluationIEEJ Transactions on Sensors and Micromachines10.1541/ieejsmas.142.285142:11(285-292)Online publication date: 1-Nov-2022
https://doi.org/10.1541/ieejsmas.142.285
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