Abstract
AbstractThis article describes a hardware and software hierarchy for the control of manipulation with the Utah/MIT Dextrous Hand (UMDH). Control algorithms execute within a multiprocessing, shared memory computer environment partitioned into a three tiered hierarchy. Joint level servo algorithms are executed at the lowest level, trajectory generation and communication at the middle level and at the highest level, a new programming language called HPL (Hand Programming Language) is implemented. A functional approach to the control of manipulation is described and the functional philosophy is embedded within HPL. Tasks are specified by the concatenation and linear combination of small functional units called motor primitives. HPL provides an abstraction of the process of manipulation through its use of motor primitives. Hand control programs can be written and easily refined within the HPL programming environment and the resulting programs act as a conveniently annotated description of manipulation tasks.
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