Layered dynamic fault detection and tolerance for robots

Robots need to quickly detect and tolerate internal failures in order to continue performing their tasks without the need for immediate human intervention. Using analytical redundancy, tests are derived with which the robot can detect failures. A layered intelligent control framework is developed containing these new sensor-based fault detection and tolerance schemes. The servo, interface, and supervisor layers form a hierarchy of fault tolerance which provide different levels of detection and tolerance probabilities for structurally diverse robots