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P is equal to the product of the torque τ and the angular velocity ω. The torque applied by the motor is considered proportional to its consumed power. This link is more complicated in reality, but for our needs this simplification suffices. We can infer the torque applied to the motor from the voltage and the current. Applying constant voltage would lead to increasing current with rising load torque. When instead the motor current is kept constant, correspondingly, the voltage drops if the motor load torque is increased.
Ankle and hip actuators of the stance leg with sagittal orientation are now able to push the body forward. When the swing leg has successfully touched the ground to ensure a safe ground contact, the body mass can be shifted back again to the other side. 3. Rather than driving actuators only with an internal oscillator (or pattern generator), we can use the robot’s body as part of the oscillator as well. This is where a sensorimotor loop comes into play. Fig. 3 An A-Series robot, performing lateral oscillation.
In: Robotica 2011, Lisbon, Portugal Hild M, Siedel T, Benckendorff C, Kubisch M, Thiele C (2011b) Myon: Concepts and Design of a Modular Humanoid Robot Which Can Be Reassembled During Runtime. In: Proceedings of the 14th Int. Conf. on Climbing and Walking Robots Johansson RS, Westling G, Backstrom A, Flanagan JR (2001) Eye-Hand Coordination in Object Manipulation. The Journal of Neuroscience pp 6917–6932 Kalaska JF (2007) From Intention to Action: Motor Cortex and the Control of Reaching. In: Progress in Motor Control, A Multidisciplinary Perspective, Kubisch M, Hild M, Höfer S (2010) Proposal of an Intrinsically Motivated System for Exploration of Sensorimotor State Spaces.