ICRA'09 Paper Abstract


Paper FrC1.1

Trujillo, Salomon (Stanford University), Cutkosky, Mark (Stanford University)

Thermally Constrained Motor Operation for a Climbing Robot

Scheduled for presentation during the Regular Sessions "Legged Robots and Humanoid Locomotion - III" (FrC1), Friday, May 15, 2009, 13:30−13:50, MainHall

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Motion Control, Legged Robots and Humanoid Locomotion


Climbing robots are especially susceptible to thermal overload during normal operation, due to the need to oppose gravity and to frequently apply internal forces for clinging. As an alternative to setting conservative limits on the motor peak and average current, we investigate methods for measuring motor temperatures, predicting motor thermal conditions and generating thermally constrained behavior. A thermal model, verified using empirical data, predicts the motor's winding temperature based on measured case temperature and input current. We also present a control strategy that maximizes robot velocity while satisfying a constraint on the maximum permissible motor winding temperature.



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