Title :
Implementation of control methodologies on the computational architecture for the Utah/MIT hand
Author :
Narasimhan, Sundar ; Siegel, David ; Hollerbach, John M. ; Biggers, Klaus ; Gerpheide, George
Author_Institution :
MIT Cambridge, MA
Abstract :
This paper provides an overview of the hardware and software systems developed for the Utah-MIT dextrous hand. It builds on the issues raised in an earlier paper [Siegel et al. 1985]. An innovative task scheduling system and a new implementation of our message-passing based inter-task communication system are discussed. Finally, an application program using this system to implement hand-level primitive operations is presented.
Keywords :
Artificial intelligence; Buildings; Cities and towns; Computer architecture; Control systems; Costs; Design engineering; Hardware; Laboratories; Robot control;
Conference_Titel :
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
DOI :
10.1109/ROBOT.1986.1087475