Computer animation of knowledge-based human grasping

2 July 1991

journal article
Published by Association for Computing Machinery (ACM) in ACM SIGGRAPH Computer Graphics

Vol. 25 (4) , 339-348
https://doi.org/10.1145/127719.122754

Abstract

The synthesis of human hand motion and grasping of arbitrary shaped objects is a very complex problem. Therefore high-level control is needed to perform these actions. In order to satisfy the kinematic and physical constraints associated with the human hand and to reduce the enormous search space associated with the problem of grasping objects, a knowledge based approach is used. A three-phased scheme is presented which incorporates the role of the hand, the object, the environment and the animator. The implementation of a hand simulation system HANDS is discussed.

Keywords

This publication has 26 references indexed in Scilit:

The virtual erector set: dynamic simulation with linear recursive constraint propagation
Published by Association for Computing Machinery (ACM) ,1990
Analytical methods for dynamic simulation of non-penetrating rigid bodies
ACM SIGGRAPH Computer Graphics, 1989
Quaternion calculus as a basic tool in computer graphics
The Visual Computer, 1989
Collision Detection and Response for Computer Animation
ACM SIGGRAPH Computer Graphics, 1988
Minimum time trajectory planner for the discrete dynamic robot model with dynamic constraints
IEEE Journal on Robotics and Automation, 1988
Virtual environment display system
Published by Association for Computing Machinery (ACM) ,1987
Formulation and optimization of cubic polynomial joint trajectories for industrial robots
IEEE Transactions on Automatic Control, 1983
Planning Collision- Free Motions for Pick-and-Place Operations
The International Journal of Robotics Research, 1983
A Method for Optimal Synthesis of Manipulation Robot Trajectories
Journal of Dynamic Systems, Measurement, and Control, 1982
Anatomical and Functional Investigations on the Articulation of the Human Fingers
Cells Tissues Organs, 1955