Dynaban, an open-source alternative firmware for dynamixel servo-motors
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 …
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 …
Dynaban, an Open-Source Alternative Firmware for Dynamixel Servo-Motors
O Ly - RoboCup 2016: Robot World Cup XX, 2017 - books.google.com
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 …
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 …
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