This project provides resources for the procurement of equipment to support robotics research at the Georgia Institute of Technology. Current research is directed toward the application of optimal and adaptive control to robotics. Additional work in learning control and cooperating robots is also in progress. Continued progress in this project requires the availability of robot hardware, comprising two arms with two joints each and a computerized control system for each arm. Research requirements dictate that the arms should be fast and fairly massive. The "Berkeley" arm developed at the University of California at Berkeley meets these requirements, and is much less costly than similar commercially available arms. A major part of the resources provided herein is for funding to purchase the necessary parts to construct two "Berkeley" arms. Also provided are a computer and support equipment to enable testing of robot controllers.
