DocumentCode
1569412
Title
HIC: an operating system for hierarchies of servo loops
Author
Clark, Dayton
Author_Institution
Courant Inst. of Math. Sci., New York Univ., NY, USA
fYear
1989
Firstpage
1004
Abstract
A description is given of HIC (hierarchical control system), an operating system specifically for hierarchies of servo loops often found in robot controllers. It uses the simple nature of servos (as processes) to its advantage. Key features of HIC are a simple and efficient scheduler for servos and asynchronous events and a (nominally) nonblocking message-passing structure, the periodic data buffer. The system is implemented and running in the NYU controller for the Utah/MIT hand
Keywords
computerised control; hierarchical systems; operating systems (computers); robots; servomechanisms; HIC; NYU controller; Utah/MIT hand; asynchronous events; computerised control; hierarchical control system; nonblocking message-passing structure; operating system; periodic data buffer; robot controllers; scheduler; servo loops; servomechanisms; Control systems; Legged locomotion; Manipulators; Operating systems; Periodic structures; Processor scheduling; Programming profession; Robot control; Servomechanisms; Tail;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location
Scottsdale, AZ
Print_ISBN
0-8186-1938-4
Type
conf
DOI
10.1109/ROBOT.1989.100112
Filename
100112
Link To Document