We propose a method to generate grasping poses which can be used as the initial state of a motion to manipulate a given object.

Abstract Human‐like grasp planning is difficult because a human hand has a high number of degrees of freedom, and there are many grasping styles depending on the shape of an object and purpose. We propose a fast grasp synthesis system which enables a user to choose the desired grasping styles from a set of grasp types in a human grasp taxonomy. Given a 3D model of an object, our system detects graspable positions and generates grasping hand postures in every applicable grasp types in the grasp taxonomy for each grasping position. Hand postures are generated separately for each digit, and hand alignment is then refined iteratively. A user can also specify the grasping position by moving the cursor onto object surface, as well as grasp type. The generated hand postures are shown as a table of thumbnail images, and the user can select the grasping hand posture by clicking on one of those postures. Our system enables interactive generation of various grasping hand postures in real time.

In-between creation in traditional cel animation based on the hand-drawn key-frames is a fundamental element for the actual production and plays a symbolic role in an artistic interpretation of the scene. To create impressive in-betweens, however, animators are required to be skilled for hair animation creation. In the traditional cel animation, hair motions are generally used to express a character's affective change or showing environment condition. Despite this usability and importance, the hair motion is drawn relatively simply or is not animated at all because of the lack of skilled animators and time constraints in cel animation production. To assist this production process, P. Noble and W. Tang [Noble and Tang. 2004], and Sugisaki et al. [Sugisaki et al. 2006] introduced certain ways to create hair motion for cartoon animations. Both of them created the hair motion based on 3D simulation that is applied to the prepared 3D character model. In this paper, we introduce an in-between creation method, specialized for hair based on dynamic simulation, which does not need any 3D character model. Animators can create in-between frames for hair motion by setting a few parameters, and then our method automatically select the best in-between frames based on the specified frame number by animator. The advantage of our method is to create in-between frames for hair motion by applying simulation model to key-frames. Obviously, the key-frame images do not have any depth. In fact, our method can directly utilize the hand-drawn key-frames which are drawn by animators in CACAni (Computer-Assisted Cel Animation) system [CACAni Website].

The action of grasping an object is very important for a humanoid agent with hand, evolving autonomously in a virtual world. If an agent is given the order "grasp the object", he has to determine the portion of the object to grasp. In order to determine a grasping position, it is necessary to recognize the form of the 3-dimensional geometry, and detect portions which are suitable for grasp. Assuming that the object is grasped by one hand, we propose two techniques for detecting appropriate portions to be grasped on the surface of an object and for generating the grasping postures. In this paper, our main contributions are as follows: the first is the detection of appropriate portions to be grasped on the surface of an object; the second is the formation of the hand shape to grasp various shaped objects. Using the two proposing methods, grasped positions and the hand shapes for each of them are computed. Moreover, these positions are evaluated by their stabilities using the robotics technique