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[070] Citation: Abstract
Existing robotic manipulator and controller designs compare unfavorably to the
human arm when performing tasks in unstructured environments. So-called
"anthropomorphic" designs have tried to improve robot performance in these
domains by replicating the kinematic structure of the human arm while
continuing to use traditional actuation and control techniques. In this paper
we describe a versatile parallel computing architecture for emulating the spinal
circuits of the human nervous system. When used in conjunction with a
dynamically realistic replica of the human arm, this controller will provide a
versatile tool for studying human moto-sensory control. The design is based on
the structural constraints of the nervous system and consists of a special
purpose digital bus which implements connections between simulated neurons
running on TMS 320C30 digital signal processors (DSPs). The system supports up
to 1024 individual neuron models, each connected to every other at least once
every millisecond. These neuron models may be distributed over as many as 256
processor circuit cards, each supporting an interface for high level control
from a host and another for input and output functions.
["I would like a hard copy of this report"]
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Updated: Tue Jul 15 23:54:48 2008
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