Implementation of a Robotic Control System for Fault Tolerance and Safety using Human Robot Interaction

摘要

Fault tolerance is important in a robotic system architecture because of the advancements in robotics which makes the robots much smarter and more capable on executing tasks. Thus fault tolerant and self-healing robotic control systems help prevent any cascade errors that can lead to the robot becoming inoperable or causing a safety hazard. The current paper is a work in progress describing the initial efforts of implementing a fault tolerant robotic system architecture and presents initial progress of this implementation where the robotic control system demonstrates a fault tolerance and a self-healing algorithm using human robot interaction in the process.