Title :
HIC: an operating system for hierarchies of servo loops
Author_Institution :
Courant Inst. of Math. Sci., New York Univ., NY, USA
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;
Conference_Titel :
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
0-8186-1938-4
DOI :
10.1109/ROBOT.1989.100112
