• DocumentCode
    2532849
  • Title

    Implementation of control methodologies on the computational architecture for the Utah/MIT hand

  • Author

    Narasimhan, Sundar ; Siegel, David ; Hollerbach, John M. ; Biggers, Klaus ; Gerpheide, George

  • Author_Institution
    MIT Cambridge, MA
  • Volume
    3
  • fYear
    1986
  • fDate
    31503
  • Firstpage
    1884
  • Lastpage
    1889
  • Abstract
    This paper provides an overview of the hardware and software systems developed for the Utah-MIT dextrous hand. It builds on the issues raised in an earlier paper [Siegel et al. 1985]. An innovative task scheduling system and a new implementation of our message-passing based inter-task communication system are discussed. Finally, an application program using this system to implement hand-level primitive operations is presented.
  • Keywords
    Artificial intelligence; Buildings; Cities and towns; Computer architecture; Control systems; Costs; Design engineering; Hardware; Laboratories; Robot control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation. Proceedings. 1986 IEEE International Conference on
  • Type

    conf

  • DOI
    10.1109/ROBOT.1986.1087475
  • Filename
    1087475
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2532849