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

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 constructe...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Lynch, K., Lofaro, D. M., Oh, P.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Actuators Biomedical monitoring Error Mitigation Fault Detection Humanoid Robotics Humanoid robots Monitoring n-dimensional Convex Hull Software
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