Abstract

We present a fault tolerant control scheme for robot manipulators based on active inference. The proposed solution makes use of the sensory prediction errors in the free-energy to simplify the residuals and thresholds generation for fault detection and isolation and does not require additional controllers for fault recovery. Results validating the benets in a simulated 2DOF manipulator are presented and the limitations of the current approach are highlighted.

Keywords: Fault-tolerant control · fault recovery · active inference · free-energy · robot manipulator