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The authors propose an optimal structure decision method which can determine cell type, arrangement, degree of freedom, and link length. It can be used for fixed-base and mobile-base manipulators, so that universal/modular manipulators can be made. Simulation results show the differences in evaluation for different candidates and tasks and also demonstrate that the structure decision method works efficiently. With respect to the software structure, optimal knowledge allocation is one of the most important issues for CEBOT. The authors propose a method of optimal knowledge allocation based on the amount of communication among cells. Communication among cells for the control proposed is described.>
Fukuda et al. (Wed,) studied this question.