Fault Tolerance for Autonomous Robots by Means of Adaptive Filters

Konferenz: ARCS 2007 - 20th International Conference on Architecture of Computing Systems 2007
15.03.2007 in Zurich, Switzerland

Tagungsband: ARCS 2007

Seiten: 9Sprache: EnglischTyp: PDF

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Agarwal, R. (Envirotech Instruments Pvt. Ltd, A-271 Okhla Phase 1, New Delhi - 110020, India)
Grosspietsch, K.-E. (Fraunhofer-Gesellschaft, Institute for Intelligent Analysis and Information Systems, Schloss Birlinghoven, D-53754 St. Augustin, Germany)

In this paper we discuss the effect of component faults in the legs of autonomous hexapod robots. This has been carried out by means of the simulation of the hexapod robot OSCAR developed at the University of Lübeck. For each of the considered fault classes, a compensating Adaptive Filter algorithm has been developed. The fault effects and their compensations are illustrated by the examples of slow motor response of a leg-joint and an improper orientation of a leg at start position of a robot trajectory. The different algorithms have been integrated to form, inside each robot leg, one coherent Leg Component Fault Tolerance Layer.