High Performance DSP/FPGA Controller for Implementation of HIT/DLR Dexterous Robot Hand.
P. HeM. H. JinL. YangR. WeiYiwei LiuHegao CaiHong LiuNikolaus SeitzJörg ButterfaßGerd HirzingerPublished in: ICRA (2004)
Keyphrases
- real time
- humanoid robot
- signal processing
- hardware implementation
- mobile robot
- low power consumption
- control architecture
- manipulation tasks
- digital signal processing
- control system
- verilog hdl
- object manipulation
- human hand
- real time image processing
- high speed
- hardware architecture
- digital signal
- software implementation
- systolic array
- fpga technology
- parallel architecture
- robot navigation
- motion control
- human robot interaction
- autonomous robots
- dedicated hardware
- degrees of freedom
- robot control
- low cost
- control method
- liquid state machine
- digital signal processor
- trajectory tracking
- control signals
- robotic manipulator
- robot manipulators
- parallel computers
- control scheme
- closed loop
- description logics