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Conference proceeding
Anomaly detection in the joint angle sensors of a snake robot
FCRAR 2020 - Proceedings, pp.68-72
Florida Conference on Recent Advances in Robotics , 33rd (Florida Institute of Technology, Melbourne, Florida, 05/14/2020–05/16/2020)
2020
Abstract
Anomaly detection method for joint angle sensors of a snake robot is introduced. The main goal of this study is to detect the joint sensor with anomaly using statistical approach along 3 joint angle sensors in a four-link snake type platform. In the developed approach, each joint sensor’s measurement is taken into account and c2 hypothesis test is adopted, and orthogonal projection method is used for pin-pointing the sensor that has the anomaly. The presented study is applied to a snake robot model in a computer simulation environment. Results and discussions are provided, and according to simulation results, developed model successfully detects and isolates joint angle sensor with anomaly. This study is a part of larger effort toward developing resilient and intelligent robotic systems.
Details
- Title
- Anomaly detection in the joint angle sensors of a snake robot
- Publication Details
- FCRAR 2020 - Proceedings, pp.68-72
- Resource Type
- Conference proceeding
- Conference
- Florida Conference on Recent Advances in Robotics , 33rd (Florida Institute of Technology, Melbourne, Florida, 05/14/2020–05/16/2020)
- Publisher
- Computer Engineering and Sciences Department, Florida Institute of Technology; Melbourne FL
- Format
- pdf
- Copyright
- Copyright (c) is retained by the authors of each article.
- Identifiers
- 99380090343406600
- Academic Unit
- Intelligent Systems and Robotics
- Language
- English