Deirdre L. Hamilton

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The incorporation of fault tolerance techniques into robot systems improves the reliability, but also increases the hardware and computational requirements in the overall system. It is not always clear how to evaluate the merit, orèeectiveness' of diier-ent fault tolerance approaches for a given application. In this paper, we present a new set of(More)
Most robot controllers today employ a single processor architecture. As robot control requirements become more complex, these serial controllers have diiculty providing the desired response time. Additionally, with robots being used in environments that are hazardous or inaccessible to humans, fault-tolerant robotic systems are particularly desirable. A(More)
As robot tasks in space, nuclear, and medical environments become more widespread, the issues of reliability and safety for robots are becoming more critical. Attempts to address these issues have resulted in a recent surge of activity in robot fault tolerance. We concentrate on fault tolerance in the robot controller, and highlight the importance and(More)
Due to the coupling in the dynamics equations, coarse-grain parallelism of robot control algorithms is particularly diicult. We have developed a new algorithm based on the Newton-Euler dynamics formulation that overcomes the serial nature of these equations , allowing a high level of parallelism. Our controller uses data from a previous control step in(More)
As robot tasks in space, nuclear, and medical environments become more widespread, the issues of reliability and safety for robots are becoming more critical. Attempts to address these issues have resulted in Q recent surge of activity in robot fault tolerance. W e conwirimte on fault tolerance in the robot controller, and highlight the importance and(More)
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