Synthesis of Interactive hand manipulation

Abstract

We present an interactive physics-based motion synthesis technique for

creating hand manipulation across a wide variety of tasks,

objects, user interventions, and stylistic preferences. Given an

object being manipulated, a single pose specifying the desired initial

contact, and the kinematic goals of the manipulation, our algorithm

automatically generates hand-object manipulation that is responsive to

unscripted external disturbances. Our algorithm simulates the dynamic

coupling between a passive dynamic system and an active dynamic system

by formulating a sequence of constrained optimizations. This

formulation allows the user to synthesize a manipulation task by

describing simple, keyframe-like kinematic goals in the domain of

object configuration. The algorithm will automatically produce the

hand motion that achieves the kinematic goals via coupled dynamic

equations of motion.

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