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Analysis and Implementation of Robust Grasping Behaviors
(1990-05-01)
This thesis addresses the problem of developing automatic grasping capabilities for robotic hands. Using a 2-jointed and a 4-jointed nmodel of the hand, we establish the geometric conditions necessary for achieving ...
Pi: A Parallel Architecture Interface for Multi-Model Execution
(1990-05-01)
This thesis defines Pi, a parallel architecture interface that separates model and machine issues, allowing them to be addressed independently. This provides greater flexibility for both the model and machine builder. ...
Design and Control of a Closed-Loop Brushless Torque Actuator
(1990-05-01)
This report explores the design and control issues associated with a brushless actuator capable of achieving extremely high torque accuracy. Models of several different motor - sensor configurations were studied to ...
The Control of Human Arm Movement Models and Mechanical Constraints
(1990-05-01)
A serial-link manipulator may form a mobile closed kinematic chain when interacting with the environment, if it is redundant with respect to the task degrees of freedom (DOFs) at the endpoint. If the mobile closed chain ...
The PHD: A Planar, Harmonic Drive Robot for Joint Torque Control
(1990-05-01)
This thesis details the development of a model of a seven degree of freedom manipulator for position control. Then, it goes on to discuss the design and construction of a the PHD, a robot built to serve two purposes: ...
Dataflow Computation for the J-Machine
(1990-05-01)
The dataflow model of computation exposes and exploits parallelism in programs without requiring programmer annotation; however, instruction- level dataflow is too fine-grained to be efficient on general-purpose ...
Passive and Active Grasping with a Prehensile Robot End-Effector
(1990-05-01)
This report presents a design of a new type of robot end-effector with inherent mechanical grasping capabilities. Concentrating on designing an end-effector to grasp a simple class of objects, cylindrical, allowed a ...
Experience with Acore: Implementing GHC with Actors
(1990-08-01)
This paper presents a concurrent interpreter for a general-purpose concurrent logic programming language, Guarded Horn Clauses (GHC). Unlike typical implementations of GHC in logic programming languages, the interpreter ...
Indexing for Visual Recognition from a Large Model Base
(1990-08-01)
This paper describes a new approach to the model base indexing stage of visual object recognition. Fast model base indexing of 3D objects is achieved by accessing a database of encoded 2D views of the objects using a ...
Routing Statistics for Unqueued Banyan Networks
(1990-09-01)
Banyan networks comprise a large class of networks that have been used for interconnection in large-scale multiprocessors and telephone switching systems. Regular variants of Banyan networks, such as delta and butterfly ...