In this paper, we present an alternative open-source firmware for the Dynamixel MX-64 servo-motor. We discuss software features to fully exploit the hardware capabilities of the device. In order to enhance the default controller, a friction model and an electric model of the motor are embedded into the firmware. The parameters of the model are found using a black-box optimization algorithm. A feed-forward method is proposed to follow position, speed and torque trajectories. The approach is tested with a highly dynamic kick movement on our humanoid soccer robot Sigmaban whose torque trajectories are computed using a classic rigid body inverse dynamics. The comparison between the default control strategy and the proposed one shows significant improvements in terms of accuracy, delay and repeatability.
CITATION STYLE
Fabre, R., Rouxel, Q., Passault, G., N’Guyen, S., & Ly, O. (2017). Dynaban, an open-source alternative firmware for Dynamixel servo-motors. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 9776 LNAI, pp. 169–177). Springer Verlag. https://doi.org/10.1007/978-3-319-68792-6_14
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