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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

      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
  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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