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Distributed Control of Truss Robots Using Consensus Alternating Direction Method of Multipliers
[article]
2021
arXiv
pre-print
Truss robots, or robots that consist of extensible links connected at universal joints, are often designed with modular physical components but require centralized control techniques. This paper presents a distributed control technique for truss robots. The truss robot is viewed as a collective, where each individual node of the robot is capable of measuring the lengths of the neighboring edges, communicating with a subset of the other nodes, and computing and executing its own control actions
arXiv:2108.06577v1
fatcat:7l4ycimiz5espfcrixo37owp4m