Conference proceeding
A n-dimensional convex hull approach for fault detection and mitigation for high degree of freedom robots humanoid robots
2012 12th International Conference on Control, Automation and Systems, pp.790-797
Oct 2012
Abstract
This work shows a plan for error state determination, diagnosis, and mitigation using autonomic computing tools and tecniques on the Hubo robot. An n-dimensional geometric enclosure is constructed from periodic measurements of the robot's normal operating state. Similar hulls will be constructed for unique faults encountered during runtime. A mapping of these faults to applicable mitigations will be dynamically constructed and will aid in mitigation selection. The successful application of the mitigation will bring the robot back to a safe operating state.
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Details
- Title
- A n-dimensional convex hull approach for fault detection and mitigation for high degree of freedom robots humanoid robots
- Creators
- K Lynch - Dept. of Comput. Sci., Drexel Univ., Philadelphia, PA, USAD. M Lofaro - Dept. of Electr. & Comput. Eng., Drexel Univ., Philadelphia, PA, USAP Oh - Drexel University
- Publication Details
- 2012 12th International Conference on Control, Automation and Systems, pp.790-797
- Conference
- 2012 12th International Conference on Control, Automation and Systems (ICCAS), 12th
- Publisher
- IEEE
- Number of pages
- 1
- Resource Type
- Conference proceeding
- Language
- English
- Identifiers
- 991019348758404721