Improved model based fault detection technique and application to humanoid robots

Abstract

One of the issue of significant interest for robotics is the fault detection, specifically when we have application in risky circumstances. Robotic systems required a capacity to efficiently identify and endure some defects so that they can keep achieving the required tasks while avoiding instantaneous repairing process. Consequently, we aim in this work to propose a systematic approach for state estimation and fault detection technique to enhance the operation of humanoid robots (HR) systems using an extended Kalman filter (EKF)-based multiscale optimized exponentially weighted moving average chart (MS-OEWMA). The objectives of this work are sixfold: (1) apply EKF technique to estimate the state variables in HR systems. The EKF is among the most popular nonlinear state estimation methods; (2) use dynamical multiscale representation for obtaining accurate settled characteristics; (3) propose a new optimized EWMA (OEWMA) based on the best selection of both smoothing parameter (λ) and control width L; (4) combine the advantages of state estimation technique with MS-OEWMA chart to improve the monitoring of HR systems; (5) investigate the effect of fault types (change in variance and mean in shift) and fault sizes on the monitoring performances; (6) validate the developed technique using two robot models: inverted pendulum and five-bar linkage. The detection results are evaluated using three fault detection metrics: missed detection rate (MDR), false alarm rate (FAR) and out-of-control average run length (ARL1).