Physically based grasping control from example

摘要: Animated human characters in everyday scenarios must interact with the environment using their hands. Captured motion can provide a database of realistic examples. However, examples involving contact are difficult to edit and retarget; realism suffer when grasp does not appear secure or an apparent impact disturb hand object. Physically based simulations preserve plausibility through simulating interaction forces. such physical models be driven by controller, creating effective controllers for new tasks remains challenge. In this paper, we present controller physically grasping that draws from capture data. Our explicitly includes passive active components uphold compliant yet controllable motion, it adds compensation movement arm gravity make behavior less dependent on dynamics motion. Given set examples, our system solves all but small parameters automatically. We demonstrate results including two-hand show derived single example used form grasps different object geometries.