Lo Wang Tai. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2002. / Includes bibliographical references (leaves 58-63). / Abstracts in English and Chinese. / Abstract --- p.i / Acknowledgement --- p.iii / Tables of Content --- p.iv / List of Figures --- p.vii / List of Tables --- p.viii / Chapter Chapter1 --- Introduction --- p.1 / Chapter 1.1 --- Internet-based Tele-cooperation --- p.1 / Chapter 1.1.1 --- Cooperative Control of Multiple Robot --- p.1 / Chapter 1.1.2 --- Internet-based Teleoperation --- p.3 / Chapter 1.1.3 --- Time Delay of Internet Communication --- p.4 / Chapter 1.2 --- Related Work --- p.5 / Chapter 1.3 --- Motivation and Contribution --- p.6 / Chapter 1.3.1 --- Motivation --- p.6 / Chapter 1.3.2 --- Contribution --- p.7 / Chapter 1.4 --- Outline of the thesis --- p.8 / Chapter Chapter2 --- The Internet Robotic System --- p.9 / Chapter 2.1 --- System Architecture --- p.9 / Chapter 2.2 --- The Hardware --- p.12 / Chapter 2.2.1 --- Operator System --- p.12 / Chapter 2.2.2 --- Mobile Robot System --- p.13 / Chapter 2.2.3 --- Multi-fingered Robot Hand System --- p.17 / Chapter 2.2.4 --- Visual Tracking System --- p.19 / Chapter 2.3 --- Software Design --- p.21 / Chapter 2.3.1 --- Robot Client and Arm Client --- p.22 / Chapter 2.3.2 --- Robot Server --- p.23 / Chapter 2.3.3 --- Image Server --- p.25 / Chapter 2.3.4 --- Arm Server --- p.75 / Chapter 2.3.5 --- Arm Controller --- p.27 / Chapter 2.3.6 --- Finger Server --- p.27 / Chapter 2.3.7 --- Finger Controller --- p.27 / Chapter 2.3.8 --- Robot Tracker --- p.28 / Chapter 2.3.9 --- Interaction Forwarder --- p.28 / Chapter Chapter3 --- Event-based Control for Force Reflecting Teleoperation --- p.29 / Chapter 3.1 --- Modeling and Control --- p.29 / Chapter 3.1.1 --- Model of Operator System --- p.31 / Chapter 3.1.2 --- Model of Mobile Robot System --- p.33 / Chapter 3.1.3 --- Model of Multi-fingered Hand System --- p.34 / Chapter 3.2 --- Force Feedback Generation --- p.35 / Chapter 3.2.1 --- Obstacle Avoidance --- p.35 / Chapter 3.2.2 --- Singularity Avoidance --- p.38 / Chapter 3.2.3 --- Interaction Rendering --- p.40 / Chapter Chapter4 --- Experiments --- p.42 / Chapter 4.1 --- Experiment1 --- p.42 / Chapter 4.2 --- Experiment2 --- p.47 / Chapter 4.3 --- Experiment3 --- p.52 / Chapter Chapter5 --- Future Wok --- p.54 / Chapter Chapter6 --- Conclusions --- p.56 / Bibliography --- p.58
| Identifer | oai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_323881 |
| Date | January 2002 |
| Contributors | Lo, Wang Tai., Chinese University of Hong Kong Graduate School. Division of Automation and Computer-Aided Engineering. |
| Source Sets | The Chinese University of Hong Kong |
| Language | English, Chinese |
| Detected Language | English |
| Type | Text, bibliography |
| Format | print, viii, 63 leaves : ill. ; 30 cm. |
| Rights | Use of this resource is governed by the terms and conditions of the Creative Commons “Attribution-NonCommercial-NoDerivatives 4.0 International” License (http://creativecommons.org/licenses/by-nc-nd/4.0/) |
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