Passive robotics: an exploration of mechanical computation

Ambarish Goswami*, Michael A. Peshkin, James Edward Colgate

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

14 Scopus citations


The authors seek to prove that a passive wrist, of fixed design, can be programmed to execute a wide range of useful control laws. In particular, wrists whose actuators are unpowered hydraulic cylinders, the ports of which are coupled to one another by variable-conductance constrictions are considered. By selection of these conductances, the wrist is programmed, much as an analog computer is programmed. The authors mathematically characterize the range of control laws such a device can compute.

Original languageEnglish (US)
Pages (from-to)2791-2796
Number of pages6
JournalProceedings of the American Control Conference
StatePublished - Jan 1 1990
EventProceedings of the 1990 American Control Conference - San Diego, CA, USA
Duration: May 23 1990May 25 1990

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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