Concurrent programming support for a multimanipulator experiment on RIPS

The authors discuss a concurrent programming environment and its application to a two-arm cooperative manipulation experiment on RIPS (robot instruction processing system). RIPS is a hierarchical multiprocessor architecture in which various custom and general-purpose processors are applied to a partitioning of the robot control problem. The system provides hardware support for synchronization and communication primitives, making it easier to write concurrent programs for RIPS´ heterogeneous processors. The experiment demonstrated the viability of RIPS in supporting computationally intensive robot control methodologies, and as a byproduct has helped to develop a parallel programming environment for RIPS, called USE RIPS (user software environment for RIPS). By building USE RIPS on Unix and using a layered approach, it is possible to adapt or make use of various existing programs and utilities, such as the GNU and C++ compilers