Liu, C. KarenMarkus Gross and Doug James2014-01-292014-01-292008978-3-905674-10-11727-5288https://doi.org/10.2312/SCA/SCA08/163-171We present an interactive physics-based motion synthesis technique for creating hand manipulation across a wide variety of tasks, objects, user interventions, and stylistic preferences. Given an object being manipulated, a single pose specifying the desired initial contact, and the kinematic goals of the manipulation, our algorithm automat- ically generates hand-object manipulation that is responsive to unscripted external disturbances. Our algorithm simulates the dynamic coupling between a passive dynamic system and an active dynamic system by formulating a sequence of constrained optimizations. This formulation allows the user to synthesize a manipulation task by describing simple, keyframe-like kinematic goals in the domain of object configuration. The algorithm will auto- matically produce the hand motion that achieves the kinematic goals via coupled dynamic equations of motion.Categories and Subject Descriptors (according to ACM CCS): I.3.7 [Computer Graphics]: Three-Dimensional Graphics and Realism