Estimation and Control of Motor Core Temperature With Online Learning of Thermal Model Parameters: Application to Musculoskeletal Humanoids

Kento Kawaharazuka; Naoki Hiraoka; Kei Tsuzuki; Moritaka Onitsuka; Yuki Asano; Kei Okada; Koji Kawasaki; Masayuki Inaba

RA-L 20209 citations

Estimation and Control of Motor Core Temperature With Online Learning of Thermal Model Parameters: Application to Musculoskeletal Humanoids

Kento Kawaharazuka, Naoki Hiraoka, Kei Tsuzuki, Moritaka Onitsuka, Yuki Asano, Kei Okada, Koji Kawasaki, Masayuki Inaba

Abstract

The estimation and management of motor temperature are important for the continuous movements of robots. In this study, we propose an online learning method of thermal model parameters of motors for an accurate estimation of motor core temperature. Also, we propose a management method of motor core temperature using the updated model and anomaly detection method of motors. Finally, we apply this method to the muscles of the musculoskeletal humanoid and verify the ability of continuous movements.

BibTeX

@inproceedings{ral2020_estimationandcon,
  title = {Estimation and Control of Motor Core Temperature With Online Learning of Thermal Model Parameters: Application to Musculoskeletal Humanoids},
  author = {Kento Kawaharazuka and Naoki Hiraoka and Kei Tsuzuki and Moritaka Onitsuka and Yuki Asano and Kei Okada and Koji Kawasaki and Masayuki Inaba},
  booktitle = {RA-L 2020},
  year = {2020}
}