Departmental Papers (ESE)


An advanced robot control system joining a GMF A-500 industrial arm with a network of Inmos Transputers is described in the context of the developing field of robotics. The robot system is used to experimentally compare conventional linear control algorithm performance with both the advanced “computer torque” inverse dynamics control algorithm and a recently developed “adaptive computed torque” algorithm.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version


Publication Source

Proceedings of North American Transputer Users Group Meeting

Start Page


Last Page



Accepted for Proceedings of the 1990 North American Transputer Users Group Meeting, October 1990.

NOTE: At the time of publication, author Daniel Koditschek was affiliated with
Yale University. Currently, he is a faculty member in the Department of Electrical
and Systems Engineering at the University of Pennsylvania.

Bib Tex

@inproceedings{whitcomb-tra-1990, title = {Transputers at Work: Real-Time Distributed Robot Control}, author = {L.L. Whitcomb and D.E. Koditschek}, editor ={D. L. Fielding"} booktitle = {Transputer Research and Applications 4}, year = {1990}, month = {October}, pages = {107-118}, }



Date Posted: 25 July 2014

This document has been peer reviewed.