Design of high torque and high speed leg module for high power humanoid

The high power ability of humanoid is desired for application of nursing or running or jumping motions. Achievement of the actuator of light and powerful equivalent to humans is required. In this paper, we propose a method to extract inherent performance from motors by an active temperature control. The method safely improves the output of motors. The active temperature control is achieved by combining the estimation of an internal temperature of the motor with the forced cooling by liquid. We also developed high power motor drivers for the proposed method. An experiment of a high power joint test bench is shown. In this paper, we show a high power prototype biped robot for application of nursing, running or jumping motions. High power actuator system and robust internal body network are developed for high power robot. Basic demonstration experiments of high power motion are shown.