Title :
A blackboard architecture for autonomous synthesis of dexterous manipulation
Author :
Ananthanarayanan, S.P. ; Goldenberg, A.A. ; Mylopoulos, J.
Author_Institution :
Dept. of Comput. Sci., Toronto Univ., Ont., Canada
Abstract :
The authors propose a sophisticated control software based on blackboard architecture for dextrous relocation-based manipulation synthesis using robot hands. An analysis of the suitability of such a blackboard architecture to relocation-based dexterous manipulation is addressed in detail. It is shown that the control software is capable of autonomous decision-making and can provide human-like variable grain-size common-sense reasoning and analysis while performing grasping or manipulation operations using robot hands
Keywords :
blackboard architecture; common-sense reasoning; control system analysis computing; manipulators; autonomous decision-making; autonomous synthesis; blackboard architecture; control software; dextrous relocation-based manipulation synthesis; grasping; human-like variable grain-size common-sense reasoning; robot hands; Automatic control; Computer architecture; Computer science; Decision making; Fingers; Grasping; Humanoid robots; Laboratories; Performance analysis; Robotics and automation; Software performance;
Conference_Titel :
Decision and Control, 1991., Proceedings of the 30th IEEE Conference on
Conference_Location :
Brighton
Print_ISBN :
0-7803-0450-0
DOI :
10.1109/CDC.1991.261403
