A dual-motor joint model for humanoid robots

Jingtao Xue; Xiaopeng Chen; Ye Tian; Zhangguo Yu; Fei Meng; Qiang Huang

doi:10.1109/CCDC.2013.6561383

A dual-motor joint model for humanoid robots

Jingtao Xue, Xiaopeng Chen^*, Ye Tian, Zhangguo Yu, Fei Meng, Qiang Huang

^*Corresponding author for this work

School of Mechatronical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2013 25th Chinese Control and Decision Conference, CCDC 2013
Pages	2621-2625
Number of pages	5
DOIs	https://doi.org/10.1109/CCDC.2013.6561383
Publication status	Published - 2013
Event	2013 25th Chinese Control and Decision Conference, CCDC 2013 - Guiyang, China Duration: 25 May 2013 → 27 May 2013

Publication series

Name	2013 25th Chinese Control and Decision Conference, CCDC 2013

Conference

Conference	2013 25th Chinese Control and Decision Conference, CCDC 2013
Country/Territory	China
City	Guiyang
Period	25/05/13 → 27/05/13

Keywords

Humanoid robot
control model
dual motor

Access to Document

10.1109/CCDC.2013.6561383

Cite this

@inproceedings{7518333733c541cdbeb480f59e9a86f9,

title = "A dual-motor joint model for humanoid robots",

abstract = "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.",

keywords = "Humanoid robot, control model, dual motor",

author = "Jingtao Xue and Xiaopeng Chen and Ye Tian and Zhangguo Yu and Fei Meng and Qiang Huang",

year = "2013",

doi = "10.1109/CCDC.2013.6561383",

language = "English",

isbn = "9781467355322",

series = "2013 25th Chinese Control and Decision Conference, CCDC 2013",

pages = "2621--2625",

booktitle = "2013 25th Chinese Control and Decision Conference, CCDC 2013",

note = "2013 25th Chinese Control and Decision Conference, CCDC 2013 ; Conference date: 25-05-2013 Through 27-05-2013",

}

Xue, J, Chen, X, Tian, Y, Yu, Z , Meng, F & Huang, Q 2013, A dual-motor joint model for humanoid robots. in 2013 25th Chinese Control and Decision Conference, CCDC 2013., 6561383, 2013 25th Chinese Control and Decision Conference, CCDC 2013, pp. 2621-2625, 2013 25th Chinese Control and Decision Conference, CCDC 2013, Guiyang, China, 25/05/13. https://doi.org/10.1109/CCDC.2013.6561383

TY - GEN

T1 - A dual-motor joint model for humanoid robots

AU - Xue, Jingtao

AU - Chen, Xiaopeng

AU - Tian, Ye

AU - Yu, Zhangguo

AU - Meng, Fei

AU - Huang, Qiang

PY - 2013

Y1 - 2013

N2 - 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.

AB - 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.

KW - Humanoid robot

KW - control model

KW - dual motor

UR - http://www.scopus.com/inward/record.url?scp=84882753350&partnerID=8YFLogxK

U2 - 10.1109/CCDC.2013.6561383

DO - 10.1109/CCDC.2013.6561383

M3 - Conference contribution

AN - SCOPUS:84882753350

SN - 9781467355322

T3 - 2013 25th Chinese Control and Decision Conference, CCDC 2013

SP - 2621

EP - 2625

BT - 2013 25th Chinese Control and Decision Conference, CCDC 2013

T2 - 2013 25th Chinese Control and Decision Conference, CCDC 2013

Y2 - 25 May 2013 through 27 May 2013

ER -

A dual-motor joint model for humanoid robots

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this