Actuator Position Control Basics

  • Chi N. Thai


In Chap.  3, the hardware characteristics for representative actuators such as the AX-12 and MX-28 were described and the key information was on the rotational encoders that were used for the AX-12/18 (a variable potentiometer, restricted to a 300° range) and for the MX-28/64 (a magnetic field detector allowing a full 360° range). In this chapter, the programming aspects for controlling such actuators via the TASK and MOTION EDITOR (V.1) tools are described. The capabilities of the newer R+MOTION (V.2.1) tool will be discussed in Chap.  11 using the DARWIN-MINI and the XL-320.


Softness Setting Biped Robot Goal Position Task Program Control Table 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Supplementary material

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  4. Kajita S et al (2014) Introduction to humanoid robotics. Springer, HeidelbergGoogle Scholar
  5. Kemp CC et al (2008) Humanoids. In: Siciliano B, Khatib O (eds) Springer handbook of robotics. Springer, Heidelberg, pp 1307–1333Google Scholar

Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Chi N. Thai
    • 1
  1. 1.College of EngineeringUniversity of GeorgiaAthensUSA

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