Author name cluster

Sundar Narasimhan

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5 papers

2 author rows

AAAI Conference 1994 Conference Paper

Merging Path Planners and Controllers through Local Context

Sundar Narasimhan

This paper presents an implemented approach to robotic tasks involving intermittent contact and changing dynamics in uncertain environments. The approach is to use global planning to find paths in a tesselated representation of the environment, and a set of local controllers to take into account possibly time varying dynamics. The important difference from conventional pathplanning in robotic tasks is how this approach uses local sensory information, and the important difference from reactive or behavior-based approaches is that the local controllers are learnt from simulation models or actual trials and are not programmed in a-priori.

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ICRA Conference 1988 Conference Paper

Condor: a revised architecture for controlling the Utah-MIT hand

Sundar Narasimhan
David M. Siegel
John M. Hollerbach

A fast architecture for controlling the Utah-MIT hand and other such complex robots is reviewed. These robots are characterized by a large number of joints and consequently demand powerful computer architectures to be controlled and utilized effectively. The version of the architecture derives its power from a novel bus-to-bus adaptor to couple a development host running a time-sharing operating system with a multimicroprocessor system devoted to real-time computations. The software is characterized by a few simple design concepts but provides the facilities out of which powerful utilities like a multiprocessor pseudoterminal emulator, a transparent fast file server, and a truly flexible powerful symbolic debugger could be constructed. >

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ICRA Conference 1986 Conference Paper

Finger force computation without the grip jacobian

John M. Hollerbach
Sundar Narasimhan
John E. Wood

This paper presents a fast and efficient way to compute the mapping from a desired external force on a grasped object to the joint torques of a multi-jointed, multi-fingered dexterous hand. The efficiency derives from avoiding the use of any Jacobian. The algorithm models contacts as point contacts with friction and works for three or four-fingered dexterous hands.

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ICRA Conference 1986 Conference Paper

Implementation of control methodologies on the computational architecture for the Utah/MIT hand

Sundar Narasimhan
David M. Siegel
John M. Hollerbach
Klaus B. Biggers
George E. Gerpheide

This paper provides an overview of the hardware and software systems developed for the Utah-MIT dextrous hand. It builds on the issues raised in an earlier paper [Siegel et al. 1985]. An innovative task scheduling system and a new implementation of our message-passing based inter-task communication system are discussed. Finally, an application program using this system to implement hand-level primitive operations is presented.

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ICRA Conference 1985 Conference Paper

Computational architecture for the Utah/MIT hand

David J. Kriegman
David M. Siegel
Sundar Narasimhan
John M. Hollerbach
George E. Gerpheide

This paper presents the computational architecture for the Utah-MIT hand, and discusses design issues encountered in its hardware and software development. The large number of linkages, actuators, and sensors offers a potentially severe computational burden for control; a multiprocessor hardware configuration has been developed to distribute this computation. In the interests of efficiency, minimal operating systems were devised for each processor which nevertheless were made sufficiently general for task scheduling, intertask communication, and debugging. This computational architecture is a general system which is potentially useful for other robotics applications.

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