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Condor: a revised architecture for controlling the Utah-MIT hand

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3 Author(s)
Narasimhan, S. ; Artificial Intelligence Lab., MIT, Cambridge, MA, USA ; Siegel, D.M. ; Hollerbach, J.M.

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

Published in:

Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on

Date of Conference:

24-29 Apr 1988