Implementation of control methodologies on the computational architecture for the Utah/MIT hand

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.