Abstract
This chapter presents an overview of the CONDOR architecture, a fully implemented system that controls the Utah/MIT hand. The architecture is especially suited for complex robots that are characterized by a number of joints and consequently demand powerful computer architectures to be controlled and utilized effectively. Using the CONDOR as a representative example, this chapter attempts to introduce the hardware and software issues that are relevant to the design of real-time control systems for robot hands.
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© 1990 Springer-Verlag New York Inc.
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Narasimhan, S., Siegel, D.M., Hollerbach, J.M. (1990). CONDOR: A Computational Architecture for Robots. In: Venkataraman, S.T., Iberall, T. (eds) Dextrous Robot Hands. Springer, New York, NY. https://doi.org/10.1007/978-1-4613-8974-3_6
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DOI: https://doi.org/10.1007/978-1-4613-8974-3_6
Publisher Name: Springer, New York, NY
Print ISBN: 978-1-4613-8976-7
Online ISBN: 978-1-4613-8974-3
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