Active inference for fault tolerant control of robot manipulators with sensory faults
Corrado Pezzato (TU Delft - Robot Dynamics)
Mohamed Baioumy (University of Oxford)
C. Hernandez Corbato (TU Delft - Robot Dynamics)
N. Hawes (University of Oxford)
M Wisse (TU Delft - Robot Dynamics)
Riccardo Maria Giorgio Ferrari (TU Delft - Team Jan-Willem van Wingerden)
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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.