DETECTION OF GRASPING POSITION FROM AN OBJECT FOR AUTONOMOUS AGENTS IN THE VIRTUAL WORLD(International Workshop on Advanced Image Technology 2005)
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概要
- 論文の詳細を見る
The action of grasping an object is very important for an agent with humanoid hands in the virtual world. For realistic animation, it is important for us to take into account the hands grasping motion. For this purpose, it is necessary to recognize the form of the 3-dimensional geometry, and to detect the position where a target should be grasped. In this paper, we propose a technique for detecting appropriate portions to be grasped on the surface of an object, assuming that the object is grasped by one hand and grasping is performed prioritizing stability for carrying the object. Our approach is to search for portions on the object surface which are appropriate for grasping by evaluating the similarity with the surface of a cylinder. The graspability is checked on searched surface portions. These detected portions become candidates for grasping position.
- 社団法人電子情報通信学会の論文
- 2005-01-04
著者
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Takahashi Hiroki
Department of Cardiology, Pulmonogy, and Nephrology, Yamagata University School of Medicine
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SAITO Suguru
Department of Obstetrics and Gynecology, School of Medicine, Keio University
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Saito Suguru
Graduate School Of Information Science And Engineering Tokyo Institute Of Technology
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Kyota Fumihito
Department of Computer Science Tokyo Institute of Technology
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Nakajima Masayuki
Department of Computer Science Tokyo Institute of Technology
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Saito Suguru
Graduate School Of Information Science & Engineering Tokyo Institute Of Technology
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Saito Suguru
Department Of Computer Science Graduate School Of Information Science & Engineering Tokyo Instit
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Takahashi Hiroki
Department Of Cardiology Pulmonology And Nephrology Yamagata University School Of Medicine
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Takahashi H
Department Of Human Communication The University Of Electro-communications
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Takahashi H
Tokyo Inst. Technol. Jpn
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Takahashi H
Tokyo Inst. Technol. Tokyo Jpn
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Nakajima Masayuki
Department Of Computer Science Graduate School Of Information Science & Engineering Tokyo Instit
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Nakajima Masayuki
Department of Chemistry, University of Massachusetts at Boston
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