データベースを基にした人間の掌握姿勢の生成

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Computer animation of human grasping has been the focus of an increasing number of studies in the last decade. Although the motion of reach to grasp has been deeply investigated for many years, especially in the robotics literature, the need for its realistic motion has become urgent due to the emergence of synthetic actors. The most important step in the animation of the grasping task is that the hand is positioned onto the object and an appropriate body posture is estimated for that posture of the hand. Some methods have been proposed for natural looking human grasping. But these researches usually focused on the shape of the grasped object in determining the posture of the hand, and they did not present an achievable method considering the position of the object with respect to the body. The proposed algorithm solves the problem of generating realistic grasping Postures in an efficient way. First, the reachable space is divided into small blocks of equal size and a database is formed based on this division, as explained in Section 2. Second, for any given object, the object is approximated with one of the primitive types and the posture of the hand is estimated using the database, as illustrated in Section 3. Finally, the grasping posture for the whole body is generated through inverse kinematics starting from the nearest stored posture, as explained in Section 4. The proposed method is the first step towards the animation of reach to grasp. Results are quite realistic and some of them are presented.
社団法人電子情報通信学会の論文
1996-09-18

データベースを基にした人間の掌握姿勢の生成

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