Approach for Robot Self-reconfiguration after Anomaly Detection within a Walking Robot System Based on Biological Inspiration - Swarm Intelligence
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Fault tolerance is an important property of an autonomous robot systems. The robotic systems often have a large number of hardware and software components (control systems, sensors, actuators, power systems, communication elements) which increase the probability of and occurrence of faults within the system. And this is especially true for walking robots. These systems exhibit high degrees of freedom and have a large number of joints and actuators, which are often prone to mechanical failures. Various research studies have been done on fault detection and fault isolation for robotic systems [Zha06] [RRT07] [CMN04] [LiJ07].
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