電動アクチュエータを持つ多脚ロボットの熱回復
Thermal Recovery of Multi-Limbed Robots with Electric Actuators
ヒューマノイドロボットのアクチュエータが過熱した際に、接触制約を満たしつつ将来の温度を最小化する関節配置をデータ駆動型熱モデルで予測し、NASA Valkyrieで実機検証した。
著者: Steven Jens Jorgensen, James Holley, Frank Mathis, Joshua S. Mehling, Luis Sentis
分類: cs.RO
原文アブストラクト
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.
