Thermal Recovery of Multi-Limbed Robots With Electric Actuators
Steven Jens Jorgensen, James Holley, Frank Mathis, Joshua S. Mehling, Luis Sentis
Abstract
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 process. Experimental validation of the proposed approach is performed on the NASA Valkyrie robot hardware.
BibTeX
@inproceedings{ral2019_thermalrecoveryo,
title = {Thermal Recovery of Multi-Limbed Robots With Electric Actuators},
author = {Steven Jens Jorgensen and James Holley and Frank Mathis and Joshua S. Mehling and Luis Sentis},
booktitle = {RA-L 2019},
year = {2019}
}