Now showing items 1-5 of 5
Fault detection and fault tolerance methods for robotics
Fault tolerance is increasingly important in modern autonomous or industrial robots. The ability to detect and tolerate failures allows robots to effectively cope with internal failures and continue performing designated ...
Design, analysis, implementation, and control of a mobile robotic testbed for telepresence
A unique mobile telepresence testbed has been designed and implemented. This testbed is a tool for research in telepresence and tele-existence for control of remote robotic systems. An eight-degree-of-freedom, redundant ...
Programming using a constraint satisfaction system for robotics
Programming robots is a difficult task, especially for autonomous robots that must operate in an open, unstructured environment. A programmer building such a system should have a number of sophisticated tools at his/her ...
A practical application of a force feedback control system for a mechanical, 3-fingered, dextrous hand
The trajectory planning and control system for a mechanical, 3-fingered, dextrous hand are analyzed and implemented. The forward and inverse kinematics of the fingers are derived and used to analyze the capabilities of the ...
The design of a scalable, hierarchical-bus, shared-memory multiprocessor
The hierarchical-bus architecture is an attractive solution to many of the problems associated with connecting processors together into a multiprocessing system but it also poses a number of design challenges. This thesis ...