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Prof. Daniel E. Koditschek

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A New Computer Board for Distributed Real-Time Motion Control

Electronic Systems Design, December 1988

Forrest Levin*, Martin Buehler†, Louis Whitcomb†, Daniel E. Koditschek‡
*: Evergreen Design
†: Yale University
‡: University of Pennsylvania
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.

Full PDF | Penn Scholarly Commons

Introduction
      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…
BibTeX entry
@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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