Back to Search
Start Over
CONDOR: an architecture for controlling the Utah-MIT dexterous hand
- Source :
- IEEE Transactions on Robotics and Automation. 5:616-627
- Publication Year :
- 1989
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 1989.
-
Abstract
- The authors describe a fully implemented computational architecture (CONDOR) that controls the Utah-MIT dexterous hand and other complex robots. The architecture derives its power from the highly efficient real-time environment provided for its control processors, coupled with a development host that allows flexible program development. By mapping the memory of a dedicated group of processors into the address space of a host computer, efficient sharing of system resources between them is possible. The software is characterized by a few simple design concepts but provides the facilities out of which more powerful utilities such as a multiprocessor pseudo-terminal emulator, a transparent and fast file server, and a flexible symbolic debugger could be constructed. >
Details
- ISSN :
- 1042296X
- Volume :
- 5
- Database :
- OpenAIRE
- Journal :
- IEEE Transactions on Robotics and Automation
- Accession number :
- edsair.doi...........3d8c1c961d9137227019c57ac695ee7e