A New Computer Board for Distributed Real-Time Motion Control

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Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
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Levin, Forrest
Buehler, Martin
Whitcomb, Louis
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This article describes a modular computational engine that has become the workhorse for almost all real-time motion control tasks that we encounter in the Yale Robotics Laboratory. Roughly speaking, these tasks amount to the marshalling of various data - from external sensors; from user specified commands; from motor joint variables - and rapid computation involving their appropriate combinations all in time to produce motor commands that will ensure high performance coordinated movement of many coupled mechanical degrees of freedom…

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1988-12-17
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Electronic Systems Design
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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.
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@article{levin-journal-1988, author = {Forrest Levin and Martin Buehler et al}, title = {A New Computer Board for Distributed Real-Time Motion Control}, booktitle = {Electronic Systems Design}, year = {1988}, location = {Yale University}, month = {December}, }
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