Passive robotics: an exploration of mechanical computation

Ambarish Goswami; Michael A. Peshkin; James Edward Colgate

doi:10.23919/acc.1990.4791230

Passive robotics: an exploration of mechanical computation

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

^*Corresponding author for this work

Mechanical Engineering

Research output: Contribution to journal › Conference article › peer-review

14 Scopus citations

Abstract

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 language	English (US)
Pages (from-to)	2791-2796
Number of pages	6
Journal	Proceedings of the American Control Conference
DOIs	https://doi.org/10.23919/acc.1990.4791230
State	Published - 1990
Event	Proceedings of the 1990 American Control Conference - San Diego, CA, USA Duration: May 23 1990 → May 25 1990

ASJC Scopus subject areas

Electrical and Electronic Engineering

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10.23919/acc.1990.4791230

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title = "Passive robotics: an exploration of mechanical computation",

abstract = "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.",

author = "Ambarish Goswami and Peshkin, {Michael A.} and Colgate, {James Edward}",

year = "1990",

doi = "10.23919/acc.1990.4791230",

language = "English (US)",

pages = "2791--2796",

journal = "Proceedings of the American Control Conference",

issn = "0743-1619",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "Proceedings of the 1990 American Control Conference ; Conference date: 23-05-1990 Through 25-05-1990",

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T2 - Proceedings of the 1990 American Control Conference

AU - Goswami, Ambarish

AU - Peshkin, Michael A.

AU - Colgate, James Edward

PY - 1990

Y1 - 1990

N2 - 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.

AB - 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.

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M3 - Conference article

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JO - Proceedings of the American Control Conference

JF - Proceedings of the American Control Conference

Y2 - 23 May 1990 through 25 May 1990

ER -

Passive robotics: an exploration of mechanical computation

Abstract

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