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Motor Sizing for Legged Robots Using Dynamic Task Specification

IEEE International Conference on Technologies for Practical Robot Applications (TePRA), April 2011

Avik De, Goran Lynch, Aaron M. Johnson and D. E. Koditschek
Electrical and Systems Engineering Department, University of Pennsylvania
IEEE |Penn ScholarlyCommons | Full PDF (Online version)

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Gear ratio optimization method presented in the paper
      We explore an approach to incorporating task and motor thermal dynamics in the selection of actuators for legged robots, using both analytical and simulation methods. We develop a motor model with a thermal component and apply it to a vertical climbing task; in the process, we optimally choose gear ratio and therefore eliminate it as a design parameter. This approach permits an analytical proof that continuous operation yields superior thermal performance to intermittent operation. We compare the results of motor sizing using our proposed method with more conventional techniques such as using the continuously permissible current specification. Our simulations are run across a database of commercially available motors, and we envision that our results might be of immediate use to robot designers for motor as well as gearbox selection.
This work was funded in part by the National Science Foundation under FIBR award 0425878 and in part by the US Army Research Lab Robotics Collaborative Technology Alliance.
BibTeX entry
  author       = {Avik De and Goran Lynch and Aaron Johnson and Daniel Koditschek},
  title        = {Motor Sizing for Legged Robots Using Dynamic Task Specification},
  booktitle    = {In Proceedings of IEEE International Conference on Technologies for Practical Robot Applications},
  year         = {2011},
  pages        = {64--69}, 
  address      = {Boston, MA, USA},
  month        = {April},
  doi          = {10.1109/TEPRA.2011.5753483}
Related Sites
Motor Sizing Summary
X-RHex Technical Report (Section 2.2)

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