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

Remi Fabre; Quentin Rouxel; Gregoire Passault; Steve  N'Guyen; Olivier Ly

doi:10.1007/978-3-319-68792-6_14

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

Remi Fabre, Quentin Rouxel, Gregoire Passault, Steve N'Guyen, Olivier Ly

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

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.

Original language	English
Title of host publication	RoboCup International Symposium 2016
Place of Publication	Leipzig, Germany
Publisher	Springer
Pages	169-177
Number of pages	9
ISBN (Electronic)	978-3-319-68792-6
ISBN (Print)	978-3-319-68791-9
DOIs	https://doi.org/10.1007/978-3-319-68792-6_14
Publication status	Published - 2017
Event	RoboCup International Symposium 2016 - Leipzig, Germany Duration: 4 Jul 2016 → 4 Jul 2016 http://www.robocup2016.org/en/symposium/

Publication series

Name	Lecture Notes in Computer Science
Publisher	Springer, Cham
Volume	9776
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	RoboCup International Symposium 2016
Country/Territory	Germany
City	Leipzig
Period	4/07/16 → 4/07/16
Internet address	http://www.robocup2016.org/en/symposium/

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10.1007/978-3-319-68792-6_14

https://link.springer.com/chapter/10.1007/978-3-319-68792-6_14

Cite this

@inproceedings{f72d319d89964492b9757276f8f90a76,

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

abstract = "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.",

author = "Remi Fabre and Quentin Rouxel and Gregoire Passault and Steve N'Guyen and Olivier Ly",

year = "2017",

doi = "10.1007/978-3-319-68792-6_14",

language = "English",

isbn = "978-3-319-68791-9",

series = "Lecture Notes in Computer Science",

publisher = "Springer",

pages = "169--177",

booktitle = "RoboCup International Symposium 2016",

address = "United Kingdom",

note = "RoboCup International Symposium 2016 ; Conference date: 04-07-2016 Through 04-07-2016",

url = "http://www.robocup2016.org/en/symposium/",

}

Fabre, R, Rouxel, Q, Passault, G, N'Guyen, S & Ly, O 2017, Dynaban, an Open-Source Alternative Firmware for Dynamixel Servo-Motors. in RoboCup International Symposium 2016. Lecture Notes in Computer Science, vol. 9776, Springer, Leipzig, Germany, pp. 169-177, RoboCup International Symposium 2016, Leipzig, Saxony, Germany, 4/07/16. https://doi.org/10.1007/978-3-319-68792-6_14

TY - GEN

T1 - Dynaban, an Open-Source Alternative Firmware for Dynamixel Servo-Motors

AU - Fabre, Remi

AU - Rouxel, Quentin

AU - Passault, Gregoire

AU - N'Guyen, Steve

AU - Ly, Olivier

PY - 2017

Y1 - 2017

N2 - 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.

AB - 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.

U2 - 10.1007/978-3-319-68792-6_14

DO - 10.1007/978-3-319-68792-6_14

M3 - Conference contribution

SN - 978-3-319-68791-9

T3 - Lecture Notes in Computer Science

SP - 169

EP - 177

BT - RoboCup International Symposium 2016

PB - Springer

CY - Leipzig, Germany

T2 - RoboCup International Symposium 2016

Y2 - 4 July 2016 through 4 July 2016

ER -

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

Abstract

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Conference

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