DocumentCode :
2339544
Title :
Fault tolerance design for computers used in humanoid robots
Author :
Murakami, Masayuki
Author_Institution :
Univ. of Electro-Commun., Tokyo
fYear :
2007
fDate :
Oct. 29 2007-Nov. 2 2007
Firstpage :
2301
Lastpage :
2307
Abstract :
Although the performance of humanoid robots is rapidly improving, very few dependability schemes suitable for humanoid robots have been presented thus far. In the future, various tasks ranging from daily chores to safety-related tasks will be carried out by individual humanoid robots. If the importance of the tasks is different, the required dependability will also vary accordingly. Therefore, for mobile humanoid robots operating under power constraints, fault tolerance that dynamically changes based on the importance of the tasks is desirable because fault-tolerant designs involving hardware redundancy are power intensive. This paper proposes a task-based dynamic fault tolerance scheme and a duplex computer system that is characterized by performing safety failover when the standby computer unit is in a cold standby state. Moreover, this paper presents the hardware design of the redundancy controller in which the safety failover subsystem is implemented.
Keywords :
control engineering computing; fault tolerant computing; humanoid robots; mobile robots; duplex computer system; fault tolerance design; hardware redundancy; mobile humanoid robots; safety failover; task-based dynamic fault tolerance scheme; Availability; Fault tolerance; Fault tolerant systems; Hardware; Humanoid robots; Humans; Mobile robots; Redundancy; Robotics and automation; Safety;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-0912-9
Electronic_ISBN :
978-1-4244-0912-9
Type :
conf
DOI :
10.1109/IROS.2007.4399355
Filename :
4399355
Link To Document :
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