A RISC processor based architecture for control and evaluation of grasping and manipulation with dexterous hands

Abstract

This paper describes the computer architecture for the IRIS Facility, currently under development at the Robotics and Automation Laboratory at the Universily of Toronto. IRIS Facility is a versatile, multi-degree-offreedom reconfigurable and eqmdable setup for research in grasping and manipulation. The proposed computer architecture involves powerful I O MFLOPS RISC processor nodes and a fast point-to-point communication network Each node includes a host coquter and parallel U0 modules as well. The nodes are controlled by nearly zero-overhead customized real-time OS krnels responsible for task scheduling, communication and user-interface.