Actuator temperature model identification for TALOS by Florian Valette

Actuator temperature model identification for TALOS

We use to burn one or two motors per year with our HRP-2 humanoid robot. This was not due to go over the torque limit for the short amount of time but rather due to constant torque applied too long.

The temperature is building up in the shell of the motor and the coil is finally melting down.

Florian Valette did a state of the art on the problem and identified the electric motor parameters of Pyrene, aka TALOS-001.

After pumping the equivalent of 16 Kgs during 4 hours, the temperature barely reached the limits of the motor showing the impressive capability of the robot !

More details are available here.

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