Thermal Recovery of Multi-Limbed Robots with Electric Actuators
| Autor: | Steven Jens Jorgensen, Luis Sentis, Frank B. Mathis, James Holley, Joshua S. Mehling |
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| Rok vydání: | 2019 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Control and Optimization Computer science 020209 energy Thermal resistance Biomedical Engineering 02 engineering and technology Computer Science::Robotics Computer Science - Robotics 020901 industrial engineering & automation Artificial Intelligence Control theory 0202 electrical engineering electronic engineering information engineering Torque Inverse kinematics Mechanical Engineering Process (computing) Computer Science Applications Human-Computer Interaction Control and Systems Engineering Robot Computer Vision and Pattern Recognition Actuator Realization (systems) Robotics (cs.RO) Humanoid robot |
| DOI: | 10.48550/arxiv.1902.00187 |
| Popis: | The problem of finding thermally minimizing configurations of a humanoid robot to recover its actuators from unsafe thermal states is addressed. A first-order, data-driven, effort-based, thermal model of the robot's actuators is devised, which is used to predict future thermal states. Given this predictive capability, a map between configurations and future temperatures is formulated to find what configurations, subject to valid contact constraints, can be taken now to minimize future thermal states. Effectively, this approach is a realization of a contact-constrained thermal inverse-kinematics (IK) process. Experimental validation of the proposed approach is performed on the NASA Valkyrie robot hardware. Comment: 8 pages, 7 figures, Published to IEEE Robotics and Automation Letters on January 18, 2019. Corrections on Arxiv Version Added on May, 2019 |
| Databáze: | OpenAIRE |
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