Passive robotics: An exploration of mechanical computation

Ambarish Goswami*, Michael Peshkin, Ed Colgate

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

95 Scopus citations

Abstract

The thesis of this work is that a passive wrist, of fixed design, can be programmed to execute a wide range of useful control laws. Considered in particular are wrists whose actuators are unpowered hydraulic cylinders, the ports of which are coupled to one another via variable-conductance constrictions. The wrist is programmed by selection of these conductances, much as an analog computer is programmed. The range of control laws such a device can compute is characterized mathematically.

Original languageEnglish (US)
Title of host publicationProc 90 IEEE Int Conf Rob Autom
PublisherPubl by IEEE
Pages279-284
Number of pages6
ISBN (Print)0818620617
StatePublished - Dec 1 1990
EventProceedings of the 1990 IEEE International Conference on Robotics and Automation - Cincinnati, OH, USA
Duration: May 13 1990May 18 1990

Publication series

NameProc 90 IEEE Int Conf Rob Autom

Other

OtherProceedings of the 1990 IEEE International Conference on Robotics and Automation
CityCincinnati, OH, USA
Period5/13/905/18/90

ASJC Scopus subject areas

  • Engineering(all)

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