Fault-tolerant control of robot manipulators with sensory faults using unbiased active inference
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...
| Main Authors: | , , , , |
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| Format: | Conference item |
| Language: | English |
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IEEE
2022
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| _version_ | 1797087399896940544 |
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| author | Baioumy, M Pezzato, C Ferrari, R Corbato, CH Hawes, N |
| author_facet | Baioumy, M Pezzato, C Ferrari, R Corbato, CH Hawes, N |
| author_sort | Baioumy, M |
| collection | OXFORD |
| description | 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. |
| first_indexed | 2024-03-07T02:35:11Z |
| format | Conference item |
| id | oxford-uuid:a889578a-afa0-481c-9259-136ad1343a5c |
| institution | University of Oxford |
| language | English |
| last_indexed | 2024-03-07T02:35:11Z |
| publishDate | 2022 |
| publisher | IEEE |
| record_format | dspace |
| spelling | oxford-uuid:a889578a-afa0-481c-9259-136ad1343a5c2022-03-27T03:02:20ZFault-tolerant control of robot manipulators with sensory faults using unbiased active inferenceConference itemhttp://purl.org/coar/resource_type/c_5794uuid:a889578a-afa0-481c-9259-136ad1343a5cEnglishSymplectic ElementsIEEE2022Baioumy, MPezzato, CFerrari, RCorbato, CHHawes, NThis 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. |
| spellingShingle | Baioumy, M Pezzato, C Ferrari, R Corbato, CH Hawes, N Fault-tolerant control of robot manipulators with sensory faults using unbiased active inference |
| title | Fault-tolerant control of robot manipulators with sensory faults using unbiased active inference |
| title_full | Fault-tolerant control of robot manipulators with sensory faults using unbiased active inference |
| title_fullStr | Fault-tolerant control of robot manipulators with sensory faults using unbiased active inference |
| title_full_unstemmed | Fault-tolerant control of robot manipulators with sensory faults using unbiased active inference |
| title_short | Fault-tolerant control of robot manipulators with sensory faults using unbiased active inference |
| title_sort | fault tolerant control of robot manipulators with sensory faults using unbiased active inference |
| work_keys_str_mv | AT baioumym faulttolerantcontrolofrobotmanipulatorswithsensoryfaultsusingunbiasedactiveinference AT pezzatoc faulttolerantcontrolofrobotmanipulatorswithsensoryfaultsusingunbiasedactiveinference AT ferrarir faulttolerantcontrolofrobotmanipulatorswithsensoryfaultsusingunbiasedactiveinference AT corbatoch faulttolerantcontrolofrobotmanipulatorswithsensoryfaultsusingunbiasedactiveinference AT hawesn faulttolerantcontrolofrobotmanipulatorswithsensoryfaultsusingunbiasedactiveinference |