Distributed Scheduling and Control of Robots

机器人分布式调度与控制

• 批准号: 8719579
• 负责人: Michael Arbib
• 金额: $ 7.27万
• 依托单位: University of Southern California
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1987
• 资助国家: 美国
• 起止时间: 1987-09-01 至 1989-02-28
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=8719579&HistoricalAwards=false
• 关键词: Distributed; Scheduling; Control; Robots

This is a continuation of a project that started while Prof. Arbib was at the University of Massachusetts, and is being conducted in collaboration with Prof. K. Ramamritham there. Substantial progress has been made on a distributed formal model of robot computations, operating system and scheduling support for realizing that model, and control-theoretic approaches to task-level robot control. The work on the distributed model is centered at the University of Southern California, while the other topics are pursued mainly at the University of Massachusetts. The work centers on control of complex tasks involving grasping and manipulation with a dexterous robot hand (the Salisbury hand).

这是Arbib教授在马萨诸塞大学期间开始的一个项目的延续，目前正在与那里的K. Ramamritham教授合作进行。在机器人计算的分布式形式化模型、实现该模型的操作系统和调度支持以及任务级机器人控制的控制理论方法方面取得了实质性进展。分布式模型的工作集中在南加州大学，而其他主题主要在马萨诸塞大学进行。这项工作的重点是控制复杂的任务，包括用灵巧的机器人手（索尔兹伯里手）抓取和操纵。