Title :
Condor: a revised architecture for controlling the Utah-MIT hand
Author :
Narasimhan, Sriram ; Siegel, David M. ; Hollerbach, John M.
Author_Institution :
Artificial Intelligence Lab., MIT, Cambridge, MA, USA
Abstract :
A fast architecture for controlling the Utah-MIT hand and other such complex robots is reviewed. These robots are characterized by a large number of joints and consequently demand powerful computer architectures to be controlled and utilized effectively. The version of the architecture derives its power from a novel bus-to-bus adaptor to couple a development host running a time-sharing operating system with a multimicroprocessor system devoted to real-time computations. The software is characterized by a few simple design concepts but provides the facilities out of which powerful utilities like a multiprocessor pseudoterminal emulator, a transparent fast file server, and a truly flexible powerful symbolic debugger could be constructed
Keywords :
computer architecture; development systems; microcomputer applications; multiprocessing systems; robots; time-sharing systems; Condor; Utah-MIT hand; bus-to-bus adaptor; complex robots; development host; multimicroprocessor system; multiprocessor pseudoterminal emulator; symbolic debugger; time-sharing operating system; transparent fast file server; Actuators; Computer architecture; Control systems; Intelligent robots; Jacobian matrices; Real time systems; Robot control; Robot sensing systems; Service robots; Time sharing computer systems;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12090
