Name
Abstract | ||
|---|---|---|
The problem of finding thermally minimizing configurations of a humanoid robot to recover its actuators from unsafe thermal states is addressed. Afirst-order, data-driven, effort-based, thermal model of the robot's actuators is devised, which is used to predict future thermal states. Given this predictive capability, a map between configurations and future temperatures is formulated to find what configurations, subject to valid contact constraints, can be taken now to minimize future thermal states. Effectively, this approach is a realization of a contact-constrained thermal inverse kinematics process. Experimental validation of the proposed approach is performed on the NASA Valkyrie robot hardware. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/LRA.2019.2894068 | IEEE ROBOTICS AND AUTOMATION LETTERS |
Keywords | DocType | Volume |
Humanoid robots, optimization and optimal control, failure detection and recovery | Journal | 4 |
Issue | ISSN | Citations |
2 | 2377-3766 | 0 |
PageRank | References | Authors |
0.34 | 5 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Steven Jens Jorgensen | 1 | 3 | 1.41 |
| James Holley | 2 | 36 | 2.57 |
| Frank B. Mathis | 3 | 10 | 2.07 |
| Joshua Mehling | 4 | 222 | 12.55 |
| Luis Sentis | 5 | 574 | 59.74 |