- document
-
Baioumy, Mohamed (author), Pezzato, C. (author), Ferrari, Riccardo M.G. (author), Hernández, Carlos (author), Hawes, Nick (author)This work presents a novel fault-tolerant control scheme based on active inference. Specifically, a new formulation of active inference which, unlike previous solutions, provides unbiased state estimation and simplifies the definition of probabilistically robust thresholds for fault-tolerant control of robotic systems using the free-energy. The...conference paper 2021
- document
-
Pezzato, C. (author), Ferrari, Riccardo M.G. (author), Hernández, Carlos (author)More adaptive controllers for robot manipulators are needed, which can deal with large model uncertainties. This letter presents a novel active inference controller (AIC) as an adaptive control scheme for industrial robots. This scheme is easily scalable to high degrees-of-freedom, and it maintains high performance even in the presence of...journal article 2020
- document
-
Pezzato, C. (author), Baioumy, Mohamed (author), Hernández, Carlos (author), Hawes, Nick (author), Wisse, M. (author), Ferrari, Riccardo M.G. (author)We present a fault tolerant control scheme for robot manipulators based on active inference. The proposed solution makes use of the sensory prediction errors in the free-energy to simplify the residuals and thresholds generation for fault detection and isolation and does not require additional controllers for fault recovery. Results...conference paper 2020