Deirdre L. Hamilton

Learn More
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)
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)
  • 1