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dc.contributor.authorKoziol, Scotten_US
dc.contributor.authorLenz, Daviden_US
dc.contributor.authorHilsenbeck, Sebastianen_US
dc.contributor.authorChopra, Smritien_US
dc.contributor.authorHasler, Paulen_US
dc.contributor.authorHoward, Ayanna M.en_US
dc.date.accessioned2013-07-18T20:31:05Z
dc.date.available2013-07-18T20:31:05Z
dc.date.issued2011-10
dc.identifier.citationS. Koziol, D. Lenz, S. Hilsenbeck, S. Chopra, P. Hasler, and A. Howard, “Using Floating-Gate Based Programmable Analog Arrays for Real-Time Control of a Game-Playing Robot,” 2011 IEEE International Conference on Systems, Man, and Cybernetics, Anchorage, AK, Oct. 2011.en_US
dc.identifier.isbn978-1-4577-0652-3
dc.identifier.issn1062-922X
dc.identifier.urihttp://hdl.handle.net/1853/48459
dc.description©2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.en_US
dc.descriptionPresented at the 2011 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 9-12 Oct. 2011.en_US
dc.descriptionDOI: 10.1109/ICSMC.2011.6084222en_US
dc.description.abstractThis paper presents preliminary results of a mobile manipulator robot tasked to play the classic Towers of Hanoi game. We first discuss the control algorithms necessary to enable necessary game-playing behavior and provide results of implementing our methodology in a high fidelity 3D environment. After attaining success in the simulation environment, we provide results on implementation of the same control software using physical robot hardware. Additionally, preliminary analysis for implementing analog Proportional-Integral-Derivative (PID) control on this platform using a floating-gate based reconfigurable analog IC is explored. Using this concept of floating gate analog arrays for control enables off-loading of the processing, which could be helpful for real-time implementation of robot behavior.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectRoboticsen_US
dc.subjectTowers of Hanoi gameen_US
dc.subjectPioneeren_US
dc.subjectPlayeren_US
dc.subjectGazeboen_US
dc.subjectAnalog proportional-integral-derivative controlen_US
dc.subjectControl softwareen_US
dc.subjectFloating-gate based programmable analog arraysen_US
dc.subjectGame-playing roboten_US
dc.subjectHigh fidelity 3D environmenten_US
dc.subjectMobile manipulator roboten_US
dc.subjectPhysical robot hardwareen_US
dc.subjectReal-time controlen_US
dc.subjectSimulation environmenten_US
dc.titleUsing Floating-Gate Based Programmable Analog Arrays for Real-Time Control of a Game-Playing Roboten_US
dc.typeProceedingsen_US
dc.typePost-printen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Human-Automation Systems Laben_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineeringen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machinesen_US
dc.publisher.originalInstitute of Electrical and Electronics Engineersen_US
dc.identifier.doi10.1109/ICSMC.2011.6084222


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