基于局部坐标系构建的抓持物体固连方法
|
摘要
在虚拟现实技术中,虚拟手抓持的传统固连方法存在操作方式简单,抓持效果不符合抓持实际以及易穿透虚拟物体等问题。采用基于局部坐标系构建的固连方法,通过参与抓持物体的虚拟手手指构建局部坐标系并创建一个空物体作为抓持手指的子节点,将构建的局部坐标系作为空物体的物体坐标系,且将空物体作为被抓持物体的父节点,实现虚拟手抓持固连。搭建仿真平台对方法进行验证,结果表明相较传统固连方法直接将被抓持物体作为虚拟手子节点的方式,局部坐标系构建的固连方法在保证虚拟手抓持基本操作的基础上,消除了虚拟物体穿透现象,实现了更好的抓持效果,通过抓持手指进行操作,实现了更精细的抓持操作,较传统的固连方法有明显优势,可以应用到虚拟仿真训练等场景。
In the virtual reality technology,the conventional method of hand grasping has many problems. The way of operation is simple,the effect of grasping doesn't meet the actual grasping,and the virtual hand always penetrates the virtual object. The method of grasping connection based on the local coordinate system was adopted to construct a local coordinate system by fingers participating virtual hand grasping and create an empty object as grasping fingers' children node. The constructed local coordinate system was used as an object coordinate system of the empty object,and the empty object as the parent node of the object to be grasped to achieve the virtual hand grasping connection. The simulation experiment platform was set up to validate the method. The results show that compared with the traditional method which directly connects the grasped object as virtual hand's children node,this method not only guarantees the basic operation,but also eliminates the phenomenon that objects are easily penetrated and achieves a better grasping effect. Operating by grasping fingers achieves a more sophisticated operation,compared with traditional grasping connection methods. The method of grasping connection based on the local coordinate system has obvious advantages,and can be applied to the virtual simulation training and other scenarios.
In the virtual reality technology,the conventional method of hand grasping has many problems. The way of operation is simple,the effect of grasping doesn't meet the actual grasping,and the virtual hand always penetrates the virtual object. The method of grasping connection based on the local coordinate system was adopted to construct a local coordinate system by fingers participating virtual hand grasping and create an empty object as grasping fingers' children node. The constructed local coordinate system was used as an object coordinate system of the empty object,and the empty object as the parent node of the object to be grasped to achieve the virtual hand grasping connection. The simulation experiment platform was set up to validate the method. The results show that compared with the traditional method which directly connects the grasped object as virtual hand's children node,this method not only guarantees the basic operation,but also eliminates the phenomenon that objects are easily penetrated and achieves a better grasping effect. Operating by grasping fingers achieves a more sophisticated operation,compared with traditional grasping connection methods. The method of grasping connection based on the local coordinate system has obvious advantages,and can be applied to the virtual simulation training and other scenarios.
引文
[1] H Hu,J G Chao,Z Zhao Q.Study of Vision-Based Hand Gesture Recognition System for Astronaut Virtual Training[C].Advanced Materials Research.2014,998:1062-1065.
[2] F Y Wu,H H Asada.Implicit and Intuitive Grasp Posture Control for Wearable Robotic Fingers:A Data-Driven Method Using Partial Least Squares[J].IEEE Transactions on Robotics,2016,32(1):176-186.
[3] V Nguyen.The Synthesis of Force-Closure Grasps[J].Laboratory Massachusetts Institute of Technology,1985.
[4] 朱书敬.具有运动真实感与抓取稳定性的虚拟手仿真技术研究[D].浙江大学,2012.
[5] 蔡娴娟,等.虚拟制造环境中虚拟手的行为构造[J].计算机辅助设计与图形学学报,2015,27(3):499-507.
[6] W Z Yang.Physically-Based Haptic Display of Rigid Body Collisions with Virtual Hand Interaction[J].Chinese Journal of Computers,2006,29(12):2096-2103.
[7] 李克彬,王淑琴,单继红.虚拟手操作技术研究及实现[J].计算机仿真,2007,24(3):227-229.
[8] Li Zhi hua,Y F Zhong.A Virtual Hand Model and its Rule for Grasping[J].Mini-micro Systems,2003.
[9] W T Wang,Li Shi-Qi,Y J Xiong.Research and Implementation of the Object-Oriented Virtual-Hand Technology[J].Computer Engineering & Science,2006,28(2):45-47.
[10] 李澍,刘毅,王念东.虚拟环境中的多手指抓取操作技术[J].计算机辅助设计与图形学学报,2010,22(10):1728-1733.
[11] 侯亚丽.视景仿真中虚拟手的人机交互技术研究[D].哈尔滨工程大学,2009.
[12] 付宜利,刘诚.虚拟装配中基于生理约束的虚拟手建模与抓持规划[J].计算机集成制造系统,2009,15(4):681-684.
[13] 张珩.人体手部的建模与分析[J].计算机仿真,1998,15(2):10-13.
[14] 李懿,等。基于蒙皮骨骼的虚拟手交互碰撞模拟方法[J],浙江大学学报(工学版),2014,48(1):105-112.
[15] 王党校,等.计算机触觉:虚拟现实环境的力触觉建模和生成[J].计算机辅助设计与图形学学报,2016,28(6):881-895.
[16] C W Orst,A P Indugula.Realistic Virtual Grasping[C].IEEE Proceedings,VR 2005,Virtual Reality,IEEE,2005:91-98.
[2] F Y Wu,H H Asada.Implicit and Intuitive Grasp Posture Control for Wearable Robotic Fingers:A Data-Driven Method Using Partial Least Squares[J].IEEE Transactions on Robotics,2016,32(1):176-186.
[3] V Nguyen.The Synthesis of Force-Closure Grasps[J].Laboratory Massachusetts Institute of Technology,1985.
[4] 朱书敬.具有运动真实感与抓取稳定性的虚拟手仿真技术研究[D].浙江大学,2012.
[5] 蔡娴娟,等.虚拟制造环境中虚拟手的行为构造[J].计算机辅助设计与图形学学报,2015,27(3):499-507.
[6] W Z Yang.Physically-Based Haptic Display of Rigid Body Collisions with Virtual Hand Interaction[J].Chinese Journal of Computers,2006,29(12):2096-2103.
[7] 李克彬,王淑琴,单继红.虚拟手操作技术研究及实现[J].计算机仿真,2007,24(3):227-229.
[8] Li Zhi hua,Y F Zhong.A Virtual Hand Model and its Rule for Grasping[J].Mini-micro Systems,2003.
[9] W T Wang,Li Shi-Qi,Y J Xiong.Research and Implementation of the Object-Oriented Virtual-Hand Technology[J].Computer Engineering & Science,2006,28(2):45-47.
[10] 李澍,刘毅,王念东.虚拟环境中的多手指抓取操作技术[J].计算机辅助设计与图形学学报,2010,22(10):1728-1733.
[11] 侯亚丽.视景仿真中虚拟手的人机交互技术研究[D].哈尔滨工程大学,2009.
[12] 付宜利,刘诚.虚拟装配中基于生理约束的虚拟手建模与抓持规划[J].计算机集成制造系统,2009,15(4):681-684.
[13] 张珩.人体手部的建模与分析[J].计算机仿真,1998,15(2):10-13.
[14] 李懿,等。基于蒙皮骨骼的虚拟手交互碰撞模拟方法[J],浙江大学学报(工学版),2014,48(1):105-112.
[15] 王党校,等.计算机触觉:虚拟现实环境的力触觉建模和生成[J].计算机辅助设计与图形学学报,2016,28(6):881-895.
[16] C W Orst,A P Indugula.Realistic Virtual Grasping[C].IEEE Proceedings,VR 2005,Virtual Reality,IEEE,2005:91-98.