Fault Tolerant Control in Shape-Changing Internal Robots

• Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA) pp. 5502 - 5508
• Main Authors: Balasubramanian, Lavanya, Wray, Tom, Damian, Dana D.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.05.2020
• Subjects: Fault tolerance; Fault tolerant systems; Force; Implants; Robot sensing systems

It is known that the interior of the human body is one of the most adverse environments for a foreign body, such as an in-vivo robot, and vice-versa. As robots operating in-vivo are increasingly recognized for their capabilities and potential for improved therapies, it is important to ensure their s...