Chung, Wing Kwong. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2008. / Includes bibliographical references (leaves 97-101). / Abstracts in English and Chinese. / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Motivation --- p.1 / Chapter 1.2 --- Related Work --- p.3 / Chapter 1.2.1 --- History of Humanoid Robots --- p.3 / Chapter 1.2.2 --- The Study of Humanoid Robots --- p.5 / Chapter 1.3 --- Thesis Overview --- p.6 / Chapter 2 --- Architecture --- p.8 / Chapter 2.1 --- Introduction --- p.8 / Chapter 2.2 --- Mechanical Design --- p.8 / Chapter 2.3 --- Hardware Platform --- p.11 / Chapter 2.4 --- Software Platform --- p.14 / Chapter 3 --- Kinematics --- p.15 / Chapter 3.1 --- Introduction --- p.15 / Chapter 3.2 --- Forward Kinematics --- p.15 / Chapter 3.2.1 --- Lower Limb --- p.17 / Chapter 3.2.2 --- Upper Limb --- p.19 / Chapter 3.3 --- Inverse Kinematics --- p.21 / Chapter 3.3.1 --- Lower Limb --- p.21 / Chapter 3.3.2 --- Upper Limb --- p.24 / Chapter 4 --- Gait Synthesis --- p.29 / Chapter 4.1 --- Introduction --- p.29 / Chapter 4.1.1 --- Difference Between Human and Robot Joints --- p.29 / Chapter 4.1.2 --- Difference Types of Gait for Humanoid Robots --- p.30 / Chapter 4.2 --- Related Works --- p.31 / Chapter 4.3 --- Gait Frame --- p.33 / Chapter 4.3.1 --- Analysis of Human Gait --- p.33 / Chapter 4.3.2 --- Gait Frame for PHR --- p.34 / Chapter 4.4 --- Gait Synthesis --- p.36 / Chapter 4.4.1 --- Mathematic Description of Bezier Curve --- p.36 / Chapter 4.4.2 --- Reasons for Using Bezier Curve for Gait Synthesis --- p.37 / Chapter 4.4.3 --- Gait Synthesis Using Bezier Curve Interpolation --- p.37 / Chapter 4.5 --- Experiments --- p.40 / Chapter 4.5.1 --- Experimental Setup --- p.40 / Chapter 4.5.2 --- Results --- p.40 / Chapter 4.6 --- Discussion --- p.43 / Chapter 4.7 --- Conclusion and Future Work --- p.44 / Chapter 5 --- Balance Algorithm for PHR --- p.45 / Chapter 5.1 --- Introduction --- p.45 / Chapter 5.2 --- Related Works --- p.45 / Chapter 5.3 --- Balance Algorithm --- p.47 / Chapter 5.4 --- Experiments --- p.51 / Chapter 5.4.1 --- Experimental Setup --- p.51 / Chapter 5.4.2 --- Results --- p.51 / Chapter 5.5 --- Discussion --- p.54 / Chapter 5.6 --- Conclusion and Future Work --- p.54 / Chapter 6 --- Human-robot Interaction System through Hand Gestures --- p.55 / Chapter 6.1 --- Introduction --- p.55 / Chapter 6.2 --- Related Works --- p.55 / Chapter 6.3 --- Flow of Hand Gesture Recognition --- p.57 / Chapter 6.4 --- Database Establishment --- p.60 / Chapter 6.4.1 --- Hand Detection and Preprocessing --- p.60 / Chapter 6.4.2 --- Extraction of Features --- p.62 / Chapter 6.4.3 --- Storage of Features --- p.68 / Chapter 6.5 --- Hand Gesture Recognition --- p.69 / Chapter 6.6 --- Experiments --- p.72 / Chapter 6.6.1 --- Experimental Setup --- p.72 / Chapter 6.6.2 --- Recognition Results --- p.73 / Chapter 6.7 --- Discussion --- p.75 / Chapter 6.8 --- Conclusion and Future Work --- p.75 / Chapter 7 --- Conclusion --- p.76 / Chapter 7.1 --- Research Summary --- p.76 / Chapter 7.2 --- Future Work --- p.78 / Chapter A --- Forward Kinematics of PHR --- p.79 / Chapter A.1 --- Lower Limb --- p.79 / Chapter A.2 --- Upper Limb --- p.82 / Chapter B --- Inverse Kinematics of PHR --- p.85 / Chapter B.1 --- Lower Limb --- p.85 / Chapter B.2 --- Upper Limb --- p.88 / Chapter C --- Zero Moment Point --- p.91 / Chapter D --- User Interface of PHR --- p.93
| Identifer | oai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_326322 |
| Date | January 2008 |
| Contributors | Chung, Wing Kwong., Chinese University of Hong Kong Graduate School. Division of Mechanical and Automation Engineering. |
| Source Sets | The Chinese University of Hong Kong |
| Language | English, Chinese |
| Detected Language | English |
| Type | Text, bibliography |
| Format | print, xi, 101 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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