不偏能動推論による感覚故障を伴うロボットマニピュレータの耐故障制御
Fault-tolerant Control of Robot Manipulators with Sensory Faults using Unbiased Active Inference
能動推論の新定式化により、不偏な状態推定と自由エネルギーに基づく確率的ロバスト閾値を用いて感覚故障の検出・隔離・復旧を追加制御器なしで行う耐故障制御を提案し、2自由度マニピュレータのシミュレーションで有効性を示した。
著者: Mohamed Baioumy, Corrado Pezzato, Riccardo Ferrari, Carlos Hernandez Corbato, Nick Hawes
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
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.
