A n-dimensional convex hull approach for fault detection and mitigation for high degree of freedom robots humanoid robots

@article{Lynch2012ANC,
  title={A n-dimensional convex hull approach for fault detection and mitigation for high degree of freedom robots humanoid robots},
  author={K M Lynch and Daniel M. Lofaro and P. Oh},
  journal={2012 12th International Conference on Control, Automation and Systems},
  year={2012},
  pages={790-797}
}
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… CONTINUE READING