Consensus making of multi-CPU control of hyper-redundant manipulator

Shinichi Kimura, Toshiyuki Okuyama

Research output: Contribution to journalConference article

4 Citations (Scopus)


A modular manipulator can be reconfigured according to its required function, conditions, and/or partial faults. In this paper, we propose a new control algorithm for a modular redundant manipulator. In this algorithm, local control processors develop independent inverse-kinematic solutions, and determine an overall solution by consensus. In this new algorithm, since decisions are not made by a single CPU, but rather through negotiation among the local processors, the control algorithm has no explicit single failure point, which was suggested to be a weak point of our previous control algorithm. Since this new algorithm is also robust against asynchronous operation of the local processors, control performance is enhanced.

Original languageEnglish
Pages (from-to)3623-3628
Number of pages6
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Publication statusPublished - 1 Dec 1998
EventProceedings of the 1998 IEEE International Conference on Systems, Man, and Cybernetics. Part 3 (of 5) - San Diego, CA, USA
Duration: 11 Oct 199814 Oct 1998


Cite this