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As more and more machines are networked, machine-to-machine (M2M) communication have captured attention of IEEE 802.16 and 3GPP which, however, have only described possible system architecture, features, and issues, but no specification of M2M communication so far. Therefore, it is important for us to define the problems and provide solutions. Since most of the machine devices (MD) are battery equipped, and the number of MD is expected to be significantly more than human population, there are two critical requirements in M2M communications, low uplink energy consumption (EC) and massive access management. In this paper, we propose MD access control algorithms to ensure low uplink EC of M2M communication under the constraint of maximum number of access from MD to BS by implementing grouping and coordinator selection. Moreover, weighting factor which takes channel condition between the coordinator and base station (BS) into consideration is introduced to further improve EC performance. Numerical results show that our algorithms can not only achieve lower EC but also adapt to various distribution of MD.