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Control Framework for Hand-Arm Coordination
| Content Provider | Semantic Scholar |
|---|---|
| Author | Agrawal, Sanjay |
| Copyright Year | 2015 |
| Abstract | Co-ordination of multiple manipulators requires cooperation at several levels in the control hierarchy. A distributed processing environment with no hardware dependencies except at the motor servo level, would provide a flexible architecture for coordination. A system on these lines is being built to control an articulated hand and an arm. The four levels of control envisaged include a task decomposition level, a planning level, a scheduling level and a server level. The hand will carry both force and tactile sensors, feedback from these are used to provide adaptive control in grasping tasks. The processing of the sensory information is performed by independent processes, with analyzed information being sent to the relevant layer of the system. The manipulators are also controlled by individual processes. All process can open communications with an active process sending commands or data, or receiving them. We describe the scope of the system and the current setup plus future lines of development. Comments University of Pennsylvania Department of Computer and Information Science Technical Report No. MSCIS-89-70. This technical report is available at ScholarlyCommons: http://repository.upenn.edu/cis_reports/590 Control Framework For Hand-Arm Coordination MS-CIS-89-70 GRASP LAB 195 |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://repository.upenn.edu/cgi/viewcontent.cgi?article=1622&context=cis_reports |
| Language | English |
| Access Restriction | Open |
| Subject Keyword | Automated planning and scheduling Distributed computing GRASP gene Information and Computer Science Information science Scheduling (computing) Scheduling - HL7 Publishing Domain Server (computing) Servo Device Component sensor (device) |
| Content Type | Text |
| Resource Type | Article |
