For implementing the model presented above, we used the
BIOLOID robotic kit [24]. 16 AX-12+ Dynamixel actuators were
used. These actuators are modular DC servo motors containing
built-in controllers, drivers, communication protocols and reduction
gears. When supplied recommended voltage of 9.6 V, the maximum
actuator torque is 16.5 kgf cm and the maximum angular
velocity is 51 rpm. Actuator angles and speed can be controlled in
a 1024-step resolution. The built-in controller is able to measure
actuator angle, speed and torque. This feedback capability is essential
for implementing the algorithm. The robots overall length
when nonoperational and fully stretched is 750mm.With an external
power source, the CLIBO prototype weighs 2 kg, which makes
it very compact and easy to carry. Table 1 summarizes the robots
physical properties and other specifications.
For implementing the model presented above, we used the
BIOLOID robotic kit [24]. 16 AX-12+ Dynamixel actuators were
used. These actuators are modular DC servo motors containing
built-in controllers, drivers, communication protocols and reduction
gears. When supplied recommended voltage of 9.6 V, the maximum
actuator torque is 16.5 kgf cm and the maximum angular
velocity is 51 rpm. Actuator angles and speed can be controlled in
a 1024-step resolution. The built-in controller is able to measure
actuator angle, speed and torque. This feedback capability is essential
for implementing the algorithm. The robots overall length
when nonoperational and fully stretched is 750mm.With an external
power source, the CLIBO prototype weighs 2 kg, which makes
it very compact and easy to carry. Table 1 summarizes the robots
physical properties and other specifications.
正在翻譯中..