This award is to purchase two Transputer networks, a force- controlled Zebra Zero robot and two Silicon Graphics Personal Iris workstations. This is a collaborative research effort between the University of Illinois and Yale University in the areas of parallel numerical curve tracing and cell decomposition, planning force-closure grasps, trajectory planning for visual servo control, and model-based vision. A Transputer network will be installed at the University of Illinois and at Yale University. A Zero Zebra robot and a Silicon Graphics Person Iris workstation will also be acquired to support collaborative experimental work in parallel numerical curve tracing and cell decomposition, planning force-closure grasps, trajectory planning for visual servo control, and model-based vision.
