A Dual-Motor Joint Model for Humanoid Robots
To make humanoid robots walking fast,it’s important to improve driving force of their leg joints.Usually,each joint of humanoid robots is driven by a single motor.Dual-motor joint,on the other hand,is one of the candidate solutions to meet the power requirement needed for fast walking.This paper proposed a new dual-motor control model.In the model,two motors are treated as a single control plant instead of two parallel control plants.With the usage of current distributor,the control model can pump different current to each motor freely so as to eliminate the unbalance of the load imposed on each motor.Simulation and experiment show that the proposed model works well under high joint load and it can be used on a fast walking humanoid robot.
Humanoid robot dual motor control model
Jingtao Xue Xiaopeng Chen Ye Tian Zhangguo Yu Fei Meng Qiang Huang
IRI , School of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100081;Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081;Key Laboratory of Intelligent Control and Decision of Complex System, Beijing 100081
国际会议
the 25th Chinese Control and Decision Conference(第25届中国控制与决策会议)
贵阳
英文
2621-2625
2013-05-01（万方平台首次上网日期，不代表论文的发表时间）