NDLI: A cooperative fault tolerance strategy for distributed object lifting robots

Content Provider	IEEE Xplore Digital Library
Author	Ghaderi, F. Ahmadabadi, M.N.
Copyright Year	2002
Description	Author affiliation: Dept. of Elect. & Comp. Eng., Tehran Univ., Iran (Ghaderi, F.; Ahmadabadi, M.N.)
Abstract	A distributed and cooperative fault-clearing strategy for a team of object lifting robots is introduced It is assumed that one of the robots misses a portion of its lifting power and the robots must redistribute the load among themselves to perform their task. Two distributed and cooperative methods for the load reallocation among the position-controlled robots without requiring them to change their grasp positions are introduced. The first method benefits from the existing redundancy in the number and in the lifting power of the robots. In the second method, the object is tilted in order to move the ZMP (Zero Moment Point) away from the faulty robot and, consequently, redistributing the load. Difficulties in controlling ZMP movements are pointed out. Therefore, the second fault clearing procedure is designed such that the ZMP position is controlled without resorting to sophisticated or centralized control algorithms. The stability of the proposed methods is discussed. Simulation results are given to support the developed methods.
Sponsorship	IEEE Robotics & Autom. Soc. IEEE Ind. Electron. Soc. Robotics Soc. Japan Soc. Instrum. & Control Eng. INRIA Rhone-Alpes Grenoble EPFL Lausanne
Starting Page	2721
Ending Page	2727
File Size	500246
Page Count	7
File Format	PDF
ISBN	0780373987
DOI	10.1109/IRDS.2002.1041681
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-09-30
Publisher Place	Switzerland
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fault tolerance Fault tolerant systems Stability Mobile robots Redundancy Costs Animals Robot sensing systems Protocols
Content Type	Text
Resource Type	Article

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