@inproceedings{f5672e5efc984ff0ba20241fea51d528,
title = "Passive robotics: An exploration of mechanical computation",
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.",
author = "Ambarish Goswami and Michael Peshkin and Ed Colgate",
year = "1990",
month = dec,
day = "1",
language = "English (US)",
isbn = "0818620617",
series = "Proc 90 IEEE Int Conf Rob Autom",
publisher = "Publ by IEEE",
pages = "279--284",
booktitle = "Proc 90 IEEE Int Conf Rob Autom",
note = "Proceedings of the 1990 IEEE International Conference on Robotics and Automation ; Conference date: 13-05-1990 Through 18-05-1990",
}