A broadcast-probability approach to the control of vast DOF cellular actuators

  title={A broadcast-probability approach to the control of vast DOF cellular actuators},
  author={Jun Ueda and Lael Odhner and H. Harry Asada},
  journal={Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.},
A broadcast-probability approach for the coordination of a vast number of actuators is proposed. We consider an actuator that consists of many "cellular" actuator units like human muscles. Each local unit has a decision-making unit which decides whether to accept or ignore the broadcasted control signal in a stochastic manner. We demonstrate through simulation that centralized coordination is unnecessary, and redundancy and randomness of the system improve the performance 

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