A multi-agent approach to hyper-redundant manipulators

D. Hennes, K. Tumer, K.P. Tuyls

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    Abstract

    The ability to reach into con??ded and unorganized envi- ronments, and grasp and manipulate various objects make hyper-redundant robotic manipulators the ideal tool for a variety of applications. Such applications include search and rescue, exploration of unknown environments, assem- bly and manufacturing as well as robotic-surgery. A key challenge that has limited the applicability of such robotic manipulators is the di??culty in controlling a robot with a very large number of interacting components. This paper aims to address this issue by using a new adaptive multia- gent control approach for exible shape changes of so called snake-arms and discusses extensions including a universal, more versatile, tree-like robotic manipulator. Our prelim- inary results show the feasibility of the approach and the potential bene??ts of a multiagent approach which includes scalability, fault tolerance, adaptivity and automated load balancing. A key ??nding of this study is the necessity of principled credit assignment for the agents, so that their collective actions optimize the performance of the full robot structure.
    Original languageEnglish
    Title of host publicationProceedings of the International Workshop of Adaptive and Learning Agents and Multi-Agent Systems (in connection with AAMAS '08), Estoril, Portugal.
    Pages25-32
    Publication statusPublished - 2008
    Eventconference; ALAMAS 2008 workshop at AAMAS'08; Estoril, Portugal, May 12th 2008 -
    Duration: 1 Jan 2008 → …

    Conference

    Conferenceconference; ALAMAS 2008 workshop at AAMAS'08; Estoril, Portugal, May 12th 2008
    Period1/01/08 → …
    OtherALAMAS 2008 workshop at AAMAS'08; Estoril, Portugal, May 12th 2008

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