Abstract
We are studying walking control of a humanoid robot in consideration of motor temperatures. In the RoboCup, it is serious problem that humanoid robot can not walk fast and stable for 20 minutes. Because the autonomous robot with control circuit is relatively heavy, the servo motors may tend to get overheat and shutdown to prevent damage. The objective of this study is to maximize the walking speed while keeping the temperatures of the servomotors below the maximum permissible one. The robot estimates the motor temperatures, and then it modifies the walking pattern. In this paper, we investigate the relationship between the power consumption of the motor and the walking pattern by simulation. And, we verify its validity using the real robot.
