DETECTION OF GRASPING POSITION FROM AN OBJECT FOR AUTONOMOUS AGENTS IN THE VIRTUAL WORLD
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Accession number;05A0212979
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| Title;DETECTION OF GRASPING POSITION FROM AN OBJECT FOR AUTONOMOUS AGENTS IN THE VIRTUAL WORLD |
| Author;
KYOTA F
(Tokyo Inst. Technol., Meguro-ku, Jpn)
SAITO S
(Tokyo Inst. Technol., Meguro-ku, Jpn)
TAKAHASHI H
(Tokyo Inst. Technol., Meguro-ku, Jpn)
NAKAJIMA M
(Tokyo Inst. Technol., Meguro-ku, Jpn)
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Journal Title;IEIC Technical Report (Institute of Electronics, Information and Communication Engineers)
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Journal Code:S0532B
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ISSN:0913-5685
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VOL.104;NO.545(IE2004 145-173);PAGE.45-50(2005)
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| Figure&Table&Reference;FIG.12, REF.9 |
| Pub. Country;Japan |
| Language;English |
| Abstract;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. (author abst.) |
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