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dc.contributor.authorBai, Yunfeien_US
dc.contributor.authorYu, Wenhaoen_US
dc.contributor.authorLiu, C. Karenen_US
dc.contributor.editorJoaquim Jorge and Ming Linen_US
dc.date.accessioned2016-04-26T08:39:09Z
dc.date.available2016-04-26T08:39:09Z
dc.date.issued2016en_US
dc.identifier.issn1467-8659en_US
dc.identifier.urihttp://dx.doi.org/10.1111/cgf.12852en_US
dc.description.abstractThis paper introduces a new technique to synthesize dexterous manipulation of cloth. Given a simple description of the desired cloth motion, our algorithm computes appropriate joint torques for physically simulated hands, such that, via contact forces, the result of cloth simulation follows the desired motion. Instead of optimizing the hand control forces directly, we formulate an optimization problem that solves for the commanding forces from the hands to the cloth, which have more direct impact on the dynamic state of the hands and that of the cloth. The solution of the optimization provides commanding forces that achieve the desired cloth motion described by the user, while respecting the kinematic constraints of the hands. These commanding forces are then used to guide the joint torques of the hands. To balance between the effectiveness of control and computational costs, we formulate a model-predictive-control problem as a quadratic program at each time step. We demonstrate our technique on a set of cloth manipulation tasks in daily activities, including folding laundry, wringing a towel, and putting on a scarf.en_US
dc.publisherThe Eurographics Association and John Wiley & Sons Ltd.en_US
dc.subjectI.3.7 [Computer Graphics]en_US
dc.subjectThree Dimensional Graphics and Realismen_US
dc.subjectAnimationen_US
dc.titleDexterous Manipulation of Clothen_US
dc.description.seriesinformationComputer Graphics Forumen_US
dc.description.sectionheadersCloth & Animationen_US
dc.description.volume35en_US
dc.description.number2en_US
dc.identifier.doi10.1111/cgf.12852en_US
dc.identifier.pages523-532en_US


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