Robot Fault Detection and Fault Tolerance: A Survey
Author
Visinsky, Monica L.; Cavallaro, Joseph R.; Walker, Ian D.
Date
1994-01-01Abstract
Fault tolerance is increasingly important for robots, especially those in remote or hazardous environments. Robots need the ability to effectively detect and tolerate internal failures in order to continue performing their tasks without the need for immediate human intervention. Recently, there has been a surge of interest in robot fault tolerance, and the subject has been investigated from a number of points of view. Ongoing research performs off-line and on-line failure analyses of robotic systems, develops fault-tolerant control environments, and derives fault detection and error recovery techniques using hardware, kinematic, or functional redundancy. This paper presents a summary of the current, limited, state-of-the-art in fault-tolerant robotics and offers some future possibilities for the field.
Citation
Published Version
Keyword
Fault Tolerance; Robotics; Fault Detection
Type
Journal article
Publisher
Citable link to this page
https://hdl.handle.net/1911/64190Metadata
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