ami-iit / paper_nava_2023_icra_fault-control-ironcub

Repository associated with the paper "Failure Detection and Fault Tolerant Control of a Jet-Powered Flying Humanoid Robot", published in IEEE ICRA 2023.

Failure Detection and Fault Tolerant Control
of a Jet-Powered Flying Humanoid Robot

G. Nava, D. Pucci, "Failure Detection and Fault Tolerant Control of a Jet-Powered Flying Humanoid Robot",
in 2023 IEEE International Conference on Robotics and Automation (ICRA)

icra_2023_fault_control_video.mp4

Installation and dependencies

• MATLAB and Simulink, at least version R2022a
• ironcub-mk1-software and its dependencies. Follow the instruction in https://github.com/ami-iit/ironcub-mk1-software#installation, Warning: ironcub-mk1-software and its dependencies are under dvelopment, and compatibility with this repo may be broken in future releases. Consider installing the repo at the following release: https://github.com/ami-iit/ironcub-mk1-software/releases/tag/v3.0, which is compatible with this version of ironcub-mk1-software dependencies: https://github.com/robotology/robotology-superbuild/releases/tag/v2023.11.0.

The repo does not require to b compiled. After having installed all the dependencise, just clone/download this repo to use it.

Instructions

• offline joint positions and attitude optimization
• momentum-control with turbine failure

Citing this work

If you find the work useful, please consider citing:

@INPROCEEDINGS{Nava2023FailureControl,
  author={Nava, Gabriele and Pucci, Daniele},
  booktitle={2023 International Conference on Robotics and Automation (ICRA)}, 
  title={Failure Detection and Fault Tolerant Control of a Jet-Powered Flying Humanoid Robot}, 
  year={2023},
  volume={},
  number={},
  pages={},
  doi={}}

Maintainer

This repository is maintained by:

	@gabrielenava