Fault tolerant supervisory control of human interactive robots

Flexible and safe control of smart human interactive multi-sensory robots which have to interact with a complex environment (human interactive robots) is a tough problem due to the extremely nonlinear and variable system behavior or the conflicting goals within the different process phases. Since conventional robot control concepts cannot comply with it the introduction of a hierarchical Neuro-Fuzzy (NF) based fault tolerant control concept is proposed in this paper.