Design of High Torque and High Speed Leg Module for High Power Humanoid

Abstract

In this paper, we show a high power prototype biped robot for application of nursing or running or jumping motions. Light and powerful actuators are required to realize the high-power performance. We propose a method to bring out maximum performance of electric motors aggressively. The technique of motor core temperature estimation and control improves the motor power performance dramatically but safely without motor burnout. High power acctuator system and robust interbody network are depeloped for high power robot. Fundamental demonstrations of high power motion are shown.