The development and validation of a sensor-driven control model for multijointed cooperating robotic arms is explored. The approach is used to explore an anthropomorphic model, and to then reason by analogy to discover a robust control model for robotic arm motion. This approach uses human-like joint motion profiles and sensory information of all joints, evaluates the weighted work done by each joint in cooperative motion, and then synthesizes a minimal effort motion trajectory to precisely and efficiently position the robotic arm end effector. This sensor-based approach significantly reduces the computational requirements for such cooperative motion. The result is a less complex, faster, and adaptive control process. A pressure-servoed hydraulic motion system has been developed to implement the movement strategy. This is a major step toward a long-term research goal of conceptualizing in an intelligent way to implement a manufacturing task.>

The interaction of a biped and the external force of gravity is predicted by applying Newton's equation to a point-mass model. Numerical integration predicts angles and angular velocities over time. Two modes of calculation are necessary, depending on whether both feet are in contact with the ground or only one. Transition equations to transfer between these two modes are based on assuming an inelastic collision at the moment of foot contact.>

Stand alone graphic systems and time-shared graphics provide different benefits to a user. The same is true of refresh graphics and storage displays. An operating system is described which supports these combined modes through the integration of graphics into the operating system. Realization of the role of the system, generality, and flexibility were the major factors in the development of the system. The result is a computer graphic system providing high-level interactive graphics at a relatively low cost.