Database Guided Realistic Grasping Posture Generation Using Inverse Kinematics
Summary :
This paper addresses the important issue of estimating realistic grasping postures, and presents a methodology and algorithm to automate the generation of hand and body postures during the grasp of arbitrary shaped objects. Predefined body postures stored in a database are generalized to adapt to a specific grasp using inverse kinematics. The reachable space is represented discretely dividing into small subvolumes, which enables to construct the database. The paper also addresses some common problems of articulated figure animation. A new approach for body positioning with kinematic constraints on both hands is described. An efficient and accurate manipulation of joint constraints is presented. Obtained results are quite satisfactory, and some of them are shown in the paper. The proposed algorithms can find application in the motion of virtual actors, all kinds of animation systems including human motion, robotics and some other fields such as medicine, for instance, to move the artificial limbs of handicapped people in a natural way.
- Publication
- IEICE TRANSACTIONS on Information Vol.E81-D No.11 pp.1272-1280
- Publication Date
- 1998/11/25
- Publicized
- Online ISSN
- DOI
- Type of Manuscript
- Category
- Image Processing,Computer Graphics and Pattern Recognition
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Yahya AYDIN, Masayuki NAKAJIMA, "Database Guided Realistic Grasping Posture Generation Using Inverse Kinematics" in IEICE TRANSACTIONS on Information,
vol. E81-D, no. 11, pp. 1272-1280, November 1998, doi: .
Abstract: This paper addresses the important issue of estimating realistic grasping postures, and presents a methodology and algorithm to automate the generation of hand and body postures during the grasp of arbitrary shaped objects. Predefined body postures stored in a database are generalized to adapt to a specific grasp using inverse kinematics. The reachable space is represented discretely dividing into small subvolumes, which enables to construct the database. The paper also addresses some common problems of articulated figure animation. A new approach for body positioning with kinematic constraints on both hands is described. An efficient and accurate manipulation of joint constraints is presented. Obtained results are quite satisfactory, and some of them are shown in the paper. The proposed algorithms can find application in the motion of virtual actors, all kinds of animation systems including human motion, robotics and some other fields such as medicine, for instance, to move the artificial limbs of handicapped people in a natural way.
URL: https://global.ieice.org/en_transactions/information/10.1587/e81-d_11_1272/_p
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@ARTICLE{e81-d_11_1272,
author={Yahya AYDIN, Masayuki NAKAJIMA, },
journal={IEICE TRANSACTIONS on Information},
title={Database Guided Realistic Grasping Posture Generation Using Inverse Kinematics},
year={1998},
volume={E81-D},
number={11},
pages={1272-1280},
abstract={This paper addresses the important issue of estimating realistic grasping postures, and presents a methodology and algorithm to automate the generation of hand and body postures during the grasp of arbitrary shaped objects. Predefined body postures stored in a database are generalized to adapt to a specific grasp using inverse kinematics. The reachable space is represented discretely dividing into small subvolumes, which enables to construct the database. The paper also addresses some common problems of articulated figure animation. A new approach for body positioning with kinematic constraints on both hands is described. An efficient and accurate manipulation of joint constraints is presented. Obtained results are quite satisfactory, and some of them are shown in the paper. The proposed algorithms can find application in the motion of virtual actors, all kinds of animation systems including human motion, robotics and some other fields such as medicine, for instance, to move the artificial limbs of handicapped people in a natural way.},
keywords={},
doi={},
ISSN={},
month={November},}
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TY - JOUR
TI - Database Guided Realistic Grasping Posture Generation Using Inverse Kinematics
T2 - IEICE TRANSACTIONS on Information
SP - 1272
EP - 1280
AU - Yahya AYDIN
AU - Masayuki NAKAJIMA
PY - 1998
DO -
JO - IEICE TRANSACTIONS on Information
SN -
VL - E81-D
IS - 11
JA - IEICE TRANSACTIONS on Information
Y1 - November 1998
AB - This paper addresses the important issue of estimating realistic grasping postures, and presents a methodology and algorithm to automate the generation of hand and body postures during the grasp of arbitrary shaped objects. Predefined body postures stored in a database are generalized to adapt to a specific grasp using inverse kinematics. The reachable space is represented discretely dividing into small subvolumes, which enables to construct the database. The paper also addresses some common problems of articulated figure animation. A new approach for body positioning with kinematic constraints on both hands is described. An efficient and accurate manipulation of joint constraints is presented. Obtained results are quite satisfactory, and some of them are shown in the paper. The proposed algorithms can find application in the motion of virtual actors, all kinds of animation systems including human motion, robotics and some other fields such as medicine, for instance, to move the artificial limbs of handicapped people in a natural way.
ER -
English
