Departmental Papers (ESE)


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…

Document Type

Journal Article

Subject Area

GRASP, Kodlab

Date of this Version


Publication Source

Electronic Systems Design


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

@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}, }



Date Posted: 17 November 2014

This document has been peer reviewed.