Dynaban, an Open-Source Alternative Firmware for Dynamixel Servo-Motors

Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9776)


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.


Open-source Model-based control RoboCup Humanoid robot 



The authors would like to thank Stéphane Ygorra for his help and guidance in the project.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  1. 1.Rhoban Football Club Team, LaBRIUniversity of BordeauxBordeauxFrance

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