A Robotic Control System for Fault Tolerance and Safety using Human Robot Interaction

摘要

In Robotics, fault tolerant control is an essential aspect for the robot to be fully autonomous without running into errors. One error could lead to another thereby quickly cascading out of control causing the system to behave anomaly. Fault tolerant and self-healing robotic control systems help detect the errors and based on the type of the error the robot automatically can self-heal or self-correct itself. The current paper is a work in progress and provides an outline of such a robotic systems mentioned in literature. A Robotic Control System using human in the loop is proposed to facilitate self-adjusting capability within the robot. Such as system will also help with the safety of the robot and the environment where it is deployed.