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Active inference for fault tolerant control of robot manipulators with sensory faults

Conference Paper (2020)
Author(s)

C. Pezzato (TU Delft - Robust Robot Systems)

Mohamed Mohamed Ashraf Mohamdy Baioumy (University of Oxford)

Carlos Hernández (TU Delft - Robust Robot Systems)

N. Hawes (University of Oxford)

M. Wisse (TU Delft - Robust Robot Systems)

Riccardo M.G. Ferrari (TU Delft - Team Jan-Willem van Wingerden)

Research Group
Robust Robot Systems
DOI related publication
https://doi.org/10.1007/978-3-030-64919-7_3
More Info
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Publication Year
2020
Language
English
Research Group
Robust Robot Systems
Bibliographical Note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.@en
Pages (from-to)
20-27
ISBN (print)
978-3-030-64918-0
ISBN (electronic)
978-3-030-64919-7
Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Abstract

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 validating the benefits in a simulated 2DOF manipulator are presented and the limitations of the current approach are highlighted.

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