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dc.contributor.authorAndrews, Sheldonen_US
dc.contributor.authorKry, Paul G.en_US
dc.contributor.editorJan Bender and Arjan Kuijper and Dieter W. Fellner and Eric Guerinen_US
dc.date.accessioned2013-11-08T10:54:19Z
dc.date.available2013-11-08T10:54:19Z
dc.date.issued2012en_US
dc.identifier.isbn978-3-905673-96-8en_US
dc.identifier.urihttp://dx.doi.org/10.2312/PE/vriphys/vriphys12/137-145en_US
dc.description.abstractWe present a method for one-handed task based manipulation of objects. Our approach uses a mid-level multiphase approach to break the problem into three parts, providing an appropriate control strategy for each phase and resulting in cyclic finger motions that accomplish the task. All motion is physically based, and guided by a policy computed for a particular task. The exact trajectory is never specified as the goal of our different tasks are concerned with the final orientation and position of the object. The offline simulations used to learn the policy are effective solutions for the task, but an important aspect of our work is that the policy is general enough to be used online in real time. We present two manipulation tasks and discuss their performance along with limitations.en_US
dc.publisherThe Eurographics Associationen_US
dc.subjectI.6.8 [Simulation and Modeling]en_US
dc.subjectAnimationen_US
dc.subjectHuman graspingen_US
dc.titlePolicies for Goal Directed Multi-Finger Manipulationen_US
dc.description.seriesinformationWorkshop on Virtual Reality Interaction and Physical Simulationen_US


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