Abstract: Feedback control for controlling a robotic manipulator includes receiving measurement signals from one or more tactile sensors and filtering the measurement signals to align them with the directions of motion of the end effector to produce an impedance-shaping signal. The feedback control determines one or more control signals to the actuators to track a reference state of the end effector based on measurements of the state of the end effector and combines the control signal with the impedance shaping signal to produce control commands. Also, the feedback control may include submitting the determined control commands to the actuators causing a change in the state of the end effector, where the state of the end effector includes one or a combination of an end effector position, an end effector velocity, and an end effector force.

Abstract: A gripper includes at least one movable finger. Each movable finger includes a first motor, a second motor, a first motor link having a first end coupled to a rotor of the first motor, a second motor link having a first end coupled to a rotor of the second motor, a finger link having a first end in pivotal connection with a second end of the second motor link and a gripper pad, and a connecting link having a first end in pivotal connection with a second end of the first motor link and a second end in pivotal connection with the finger link. The gripper further includes at least one controller programmed or configured to actuate the first motor and the second motor of each of the at least one movable finger.

Abstract: A gripper includes at least one movable finger. Each movable finger includes a first motor, a second motor, a first motor link having a first end coupled to a rotor of the first motor, a second motor link having a first end coupled to a rotor of the second motor, a finger link having a first end in pivotal connection with a second end of the second motor link and a gripper pad, and a connecting link having a first end in pivotal connection with a second end of the first motor link and a second end in pivotal connection with the finger link. The gripper further includes at least one controller programmed or configured to actuate the first motor and the second motor of each of the at least one movable finger.

Abstract: A system for validating the output of an updated graphics rendering engine is presented. The system includes two computer systems, with one computer system including an updated graphics rendering engine. The two computers are configured to execute test instructions that cause graphic information to be rendered on the computers. The two computers are further configured to respond to sample requests during the executing of the test instructions. Each computer responds by retrieving the currently rendered data on the computer as a rendered sample. The system also includes a master computer. The master computer is configured to retrieve the rendered samples of the two computers, compare the rendered samples to determine whether there are differences, and if there are differences, report those differences.

Abstract: A system for validating the output of an updated graphics rendering engine is presented. The system includes two computer systems, with one computer system including an updated graphics rendering engine. The two computers are configured to execute test instructions that cause graphic information to be rendered on the computers. The two computers are further configured to respond to sample requests during the executing of the test instructions. Each computer responds by retrieving the currently rendered data on the computer as a rendered sample. The system also includes a master computer. The master computer is configured to retrieve the rendered samples of the two computers, compare the rendered samples to determine whether there are differences, and if there are differences, report those differences.