Abstract
Intelligent robots, with multifingered end-effectors and control relying on real-time processing of huge amounts of visual and tactile sensory information, belong, no doubt, to the class of large dynamical systems. The essential feature of such systems is the multilevel organization of control. Due to the great amount of data processing in large systems, the state space approach, which id efficient in less complex problems, does not always provide the most efficient solution. Rather, a mixture of numerical and non-numerical control methods leads in many instances to an optimal solution in terms of the response of the large system. This paper describes advances in the design of autonomous dextrous hands.
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