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arXiv Open Access 2024

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 +3 lainnya
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Abstrak

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.

Topik & Kata Kunci

cs.RO

Penulis (8)

K

Kento Kawaharazuka

N

Naoki Hiraoka

K

Kei Tsuzuki

M

Moritaka Onitsuka

Y

Yuki Asano

K

Kei Okada

K

Koji Kawasaki

M

Masayuki Inaba

Format Sitasi

APA MLA BibTeX
Kawaharazuka, K., Hiraoka, N., Tsuzuki, K., Onitsuka, M., Asano, Y., Okada, K. et al. (2024). Estimation and Control of Motor Core Temperature with Online Learning of Thermal Model Parameters: Application to Musculoskeletal Humanoids. https://arxiv.org/abs/2407.08055

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Informasi Jurnal
Tahun Terbit
2024
Bahasa
en
Sumber Database
arXiv
Akses
Open Access ✓