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Actuator Position Control Basics

  • Chi N. Thai
Chapter

Abstract

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.

Keywords

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

Video_6_1 (MP4 60,311 kb)

Video_6_2 (MP4 24,905 kb)

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Video_6_4 (MP4 13,742 kb)

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Video_6_6 (WMV 17,522 kb)

Video_6_7 (WMV 9,397 kb)

Video_6_8 (WMV 13,998 kb)

References

  1. Abdel-Malek KA, Arora JS (2013) Human motion simulation. Academic, WalthamGoogle Scholar
  2. Chevallereau C et al (2009) Bipedal robots. Wiley, HobokenGoogle Scholar
  3. Kajita S, Espiau B (2008) Legged robots. In: Siciliano B, Khatib O (eds) Springer handbook of robotics. Springer, Heidelberg, pp 361–389Google Scholar
  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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