Name
Title | ||
|---|---|---|
Fault-tolerant Control of Robot Manipulators with Sensory Faults using Unbiased Active Inference |
Abstract | ||
|---|---|---|
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 proposed solution makes use of the sensory prediction errors in the free-energy for the generation of residuals and thresholds for fault detection and isolation of sensory faults, and it does not require additional controllers for fault recovery. Results validating the benefits in a simulated 2-DOF manipulator are presented, and future directions to improve the current fault recovery approach are discussed. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.23919/ECC54610.2021.9654913 | 2021 EUROPEAN CONTROL CONFERENCE (ECC) |
Keywords | DocType | Citations |
Fault-tolerant control, fault recovery, active inference, free-energy principle, robotics, robot manipulator | Conference | 0 |
PageRank | References | Authors |
0.34 | 0 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Baioumy Mohamed | 1 | 0 | 1.69 |
| Corrado Pezzato | 2 | 0 | 0.34 |
| Riccardo Ferrari | 3 | 0 | 0.34 |
| Carlos Hernandez Corbato | 4 | 0 | 0.34 |
| Nick Hawes | 5 | 0 | 0.34 |