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

Conference paper (2020)

Authors

C. Pezzato Robot Dynamics - Mechanical, Maritime and Materials Engineering
Mohamed Baioumy University of Oxford
Carlos Hernández Robot Dynamics - Mechanical, Maritime and Materials Engineering
Nick Hawes University of Oxford
M. Wisse Robot Dynamics - Mechanical, Maritime and Materials Engineering
Riccardo M.G. Ferrari Team Jan-Willem van Wingerden - Mechanical, Maritime and Materials Engineering
Research Group
Robot Dynamics (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2020 C. Pezzato, Mohamed Baioumy, Carlos Hernández, Nick Hawes, M. Wisse, Riccardo M.G. Ferrari
DOI
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https://doi.org/10.1007/978-3-030-64919-7_3
Robot manipulator Active inference Fault-tolerant control Fault recovery Free-energy
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Published Date

2020

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Robot Dynamics

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.