| |
|
|
|
|
|
|
|
|
|
|
|
| |
|
|
|
[068] Citation: Abstract
Existing robotic manipulator and controller designs compare unfavorably to the
human arm when performing tasks in unstructured environments. Traditionally,
"anthropomorphic" designs have focused on replicating only the kinematics of the
human arm. In contrast, we describe a versatile parallel computing architecture
for emulating the spinal circuits of the human nervous system in conjunction
with a dynamically realistic actuated arm model. This design is based on the
structural constraints of the nervous system, and consists of a special purpose
digital bus which implements connections between simulated neuron pools. The
processing elements are circuit cards based on the TMS 320C30 digital signal
processing chip. The system may be expanded to 256 processor cards, supporting
a total of 1024 computational modes that are interconnected every millisecond.
["I would like a hard copy of this report"]
[Copyright]
[HELP!]
Updated: Tue Jul 15 23:54:48 2008
| |
