학술논문
Implementation of control methodologies on the computational architecture for the Utah/MIT hand
Document Type
Conference
Source
Proceedings. 1986 IEEE International Conference on Robotics and Automation Robotics and Automation. Proceedings. 1986 IEEE International Conference on. 3:1884-1889 1986
Subject
Language
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.