Skip to main content
U.S. flag

An official website of the United States government

Official websites use .gov
A .gov website belongs to an official government organization in the United States.

Secure .gov websites use HTTPS
A lock ( ) or https:// means you’ve safely connected to the .gov website. Share sensitive information only on official, secure websites.

An Architecture for a Robot Hierarchical Control System



Anthony J. Barbera
Special Publication (NIST SP) - 500-23
Report Number


Barbera, A. (1977), An Architecture for a Robot Hierarchical Control System, Special Publication (NIST SP), National Institute of Standards and Technology, Gaithersburg, MD (Accessed July 19, 2024)


If you have any questions about this publication or are having problems accessing it, please contact

Created December 1, 1977, Updated October 16, 2008