Detection and Evaluation of Grasping Positions for Virtual Agents

Fumihito KYOTA; Tomoyuki WATABE; Suguru SAITO; Masayuki NAKAJIMA

doi:10.11371/aiieej.33vc.0.1.0

Proceedings of Visual Computing / Graphics and CAD Joint Symposium 2005

Session ID : 05-1

DOI https://doi.org/10.11371/aiieej.33vc.0.1.0

Conference information

Host: The Institute of Image Electronics Engineers of Japan

Co-host: Information Processing Society of Japan, Shinshu University

9:00-10:30 Chair: Tsuneya KURIHARA, Hitachi Ltd.

Detection and Evaluation of Grasping Positions for Virtual Agents

*Fumihito KYOTA, Tomoyuki WATABE, Suguru SAITO, Masayuki NAKAJIMA

Author information

Keywords: Grasping action, Autonomous Agents, Neural Network

CONFERENCE PROCEEDINGS FREE ACCESS

Details

Abstract

The action of grasping an object is very important for an autonomous character agent. When an agent grasps an object, it has to determine which portion of the object to grasp. However, the selection is not easy, because there are a lot of possible grasping methods for one object. Our method consists of the following steps. First, portions that can be grasped on the surface of an object are detected as candidates for a grasping position. Then, hand shapes corresponding to each candidate's shape are presumed using a neural network. Therefore, their candidates for a grasping position are evaluated by stability using robotics technique.

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