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 - https://www.scopus.com/pages/publications/84882753350
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 -