# SHAPE: An Energy-Based Fault Detection and Isolation Framework for Flat Port-Hamiltonian Mechanical Systems

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/p32hlv0n9ui87hy8mzir7zfb4
- Original: https://arxiv.org/abs/2610.33679

## Summary

The paper proposes an energy-based fault diagnosis framework, SHAPE, which combines port-Hamiltonian variables and differential flatness to generate nominal power references from planned motion, constructing mechanical port-power residuals without a dedicated dynamic observer. In simulations of a six-degree-of-freedom Kinova manipulator under model predictive control, SHAPE-CWT achieved an average accuracy of 84.69% on 3000 held-out tests, compared with 81.67% for torque residuals and 97.17% for a generalized momentum observer. The authors note that severity-excitation profiles and offline velocity perturbations limit the method's diagnostic capability.