"Its arcane rituals of parliamentary procedure and majority rule usually produce a victorious majority and a very dissatisfied minority that expects to raise its concerns, again, at the next possible meeting."
Anyone considering Robert's Rules should read this first: "Breaking Robert's Rules: The New Way to Run Your Meeting, Build Consensus, and Get Results"  by Lawrence Susskind -- an MIT and Harvard professor. 
That book is a "popular" condensed version of the ideas behind practical consensus-building. If you want to implement it in your organization, see his full-length "The Consensus Building Handbook".  It's textbook-priced unfortunately (for organizations to purchase, not curious individuals), but many academic institutions will have direct access to it online. 
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