Design of high torque and high speed leg module for high power humanoid
Design of high torque and high speed leg module for high power humanoid
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DOI：
10.1109/iros.2010.5649683
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发表时间：
2010-12
期刊：
影响因子：
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通讯作者：
Junichi Urata;Y. Nakanishi;K. Okada;M. Inaba
中科院分区：
文献类型：
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作者：
Junichi Urata;Y. Nakanishi;K. Okada;M. Inaba
高功率的人形机器人的能力是需要的护理或运行或跳跃运动的应用。实现轻和强大的相当于人类的致动器是必需的。在本文中，我们提出了一种方法来提取固有性能的电机的主动温度控制。该方法安全地提高了电机的输出。主动温度控制通过将电动机的内部温度的估计与通过液体的强制冷却相结合来实现。我们还开发了大功率电机驱动器所提出的方法。介绍了一种大功率关节试验台的试验情况。在本文中，我们展示了一个高功率的原型机器人的护理，运行或跳跃运动的应用。针对大功率机器人，研制了大功率作动器系统和鲁棒体内网络。高功率运动的基本演示实验。
The high power ability of humanoid is desired for application of nursing or running or jumping motions. Achievement of the actuator of light and powerful equivalent to humans is required. In this paper, we propose a method to extract inherent performance from motors by an active temperature control. The method safely improves the output of motors. The active temperature control is achieved by combining the estimation of an internal temperature of the motor with the forced cooling by liquid. We also developed high power motor drivers for the proposed method. An experiment of a high power joint test bench is shown. In this paper, we show a high power prototype biped robot for application of nursing, running or jumping motions. High power actuator system and robust internal body network are developed for high power robot. Basic demonstration experiments of high power motion are shown.