Trajectory optimization for high-power robots with motor temperature constraints

Wei Xin Tan, Martim Brandão*, Kenji Hashimoto, Atsuo Takanishi

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


Modeling heat transfer is an important problem in high-power electrical robots as the increase of motor temperature leads to both lower energy efficiency and the risk of motor damage. Power consumption itself is a strong restriction in these robots especially for battery-powered robots such as those used in disaster-response. In this paper, we propose to reduce power consumption and temperature for robots with high-power DC actuators without cooling systems only through motion planning. We first propose a parametric thermal model for brushless DC motors which accounts for the relationship between internal and external temperature and motor thermal resistances. Then, we introduce temperature variables and a thermal model constraint on a trajectory optimization problem which allows for power consumption minimization or the enforcing of temperature bounds during motion planning. We show that the approach leads to qualitatively different motion compared to typical cost function choices, as well as energy consumption gains of up to 40%.

Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems - 19th Annual Conference, TAROS 2018, Proceedings
EditorsMaria Elena Giannaccini, Manuel Giuliani, Tareq Assaf
PublisherSpringer Verlag
Number of pages12
ISBN (Print)9783319967271
Publication statusPublished - 2018
Event19th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2018 - Bristol, United Kingdom
Duration: 2018 Jul 252018 Jul 27

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10965 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other19th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2018
Country/TerritoryUnited Kingdom


  • Legged robots
  • Motion planning
  • Temperature
  • Thermal models
  • Trajectory optimization

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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