Study of the Characteristics of Bipedal Walking Robot Actuators

Abstract

This paper studies the characteristics of the electric motors for a bipedal robot. The problem of constructing a mathematical description of the relations between the current in the motor's windings and the torque it produces is considered. The paper presents a design for a testing setup which allows to study these characteristics. It also presents the experimental results for two electric motors. Simulation results obtained with a nonlinear motor model showed that the nonlinear relation between the motor's current and torque has significant effect on the behavior of the studied mechanical system.