@inproceedings{f7909151debd493a9ee3b5f6ce9347fa,
title = "Trajectory optimization for high-power robots with motor temperature constraints",
abstract = "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%.",
keywords = "Legged robots, Motion planning, Temperature, Thermal models, Trajectory optimization",
author = "Tan, {Wei Xin} and Martim Brand{\~a}o and Kenji Hashimoto and Atsuo Takanishi",
note = "Funding Information: This work was supported by ImPACT TRC Program of Council for Science, Technology and Innovation (Cabinet Office, Government of Japan). Martim Brand{\~a}o is supported by the EPSRC RAIN Hub, grant EP/R026084/1. Finally, we would like to thank N. Sakai for help with the open loop experiments and K. Kumagai for help with initially setting up the temperature experiments. Funding Information: Acknowledgment. This work was supported by ImPACT TRC Program of Council for Science, Technology and Innovation (Cabinet Office, Government of Japan). Martim Brand{\~a}o is supported by the EPSRC RAIN Hub, grant EP/R026084/1. Finally, we would like to thank N. Sakai for help with the open loop experiments and K. Kumagai for help with initially setting up the temperature experiments. Publisher Copyright: {\textcopyright} Springer International Publishing AG, part of Springer Nature 2018.; 19th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2018 ; Conference date: 25-07-2018 Through 27-07-2018",
year = "2018",
doi = "10.1007/978-3-319-96728-8_1",
language = "English",
isbn = "9783319967271",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "3--14",
editor = "Giannaccini, {Maria Elena} and Manuel Giuliani and Tareq Assaf",
booktitle = "Towards Autonomous Robotic Systems - 19th Annual Conference, TAROS 2018, Proceedings",
}
