Tham khảo tài liệu 'humanoid robots - new developments part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Copycat Hand - Robot Hand Generating Imitative Behaviour at High Speed and with High Accuracy 307 shapes of the hand. shows a schematic chart of the interpolation of the articular angle data and the CG images of the hand. Furthermore shows an example of the interpolated CG images of the hand. This figure represents an example of a case where the articular angle was measured at three different points in time for the actions of changing from rock to scissors in the rock-paper-scissors game and the direct generation of CG and the generation of CG using interpolation were made from two adjoining data. In both these figures the three images surrounded by a square represent the former while the other images represent the latter. Key angle information Key CG hand Fig. 1. Interpolation of the articular angle data and CG images of the hand. Third we added the data describing the differences among individuals. Because of the differences that exist among individuals as shown in a wide variety of data is required for a database intended for searching similar images. For example in the hand shape representing rock in the rock-paper-scissors game a significant difference among individuals is likely to appear in 1 the curvature of the coxa position of the four fingers other than the thumb and 2 the manner of protrusion of the thumb coxa. 308 Humanoid Robots New Developments Moreover differences are likely to appear in 3 the manner of opening of the index and the middle finger and 4 the standing angle of the reference finger in the scissors shape and also in 5 the manner of opening and 6 the manner of warping etc. of the thumb in the paper shape. In order to express such differences among individuals in the form of the CG hand we need to adjust the parameters of the length of the finger bone and the movable articular angle therefore we generated the CG images of hands having differences among individuals on the basis of the articular angle data obtained by the .
