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

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.
Publication status:
Published
Peer review status:
Peer reviewed

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Publisher copy:
10.1007/978-3-030-64919-7_3

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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
More by this author
Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
ORCID:
0000-0002-7556-6098
Publisher:
Springer
Host title:
Active Inference
Series:
Communications in Computer and Information Science
Series number:
1326
Pages:
20-27
Publication date:
2020-12-18
Acceptance date:
2020-07-09
Event title:
IWAI 2020: 1st International Workshop on Active Inference held in conjunction with ECML PKDD 2020
Event location:
Ghent, Belgium, held virtually
Event website:
https://iwaiworkshop.github.io/
Event start date:
2020-09-14
Event end date:
2020-09-14
DOI:
EISSN:
1611-3349
EISBN:
9783030649197
ISBN:
9783030649180
Language:
English
Keywords:
Pubs id:
1138275
Local pid:
pubs:1138275
Deposit date:
2020-10-19

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