Control on output peak current of motors in robots

Strict requirements for joint motor controllers have been put forward with the development of robots. In particular, when a humanoid walks quickly or runs, instantaneous high power and large current are desired. Traditional motor controllers protect themselves by setting maximum operating current. This method is simple and effective, but it does not give full play to the maximum output power of the motor. To overcome the weakness, a new method based on the low-pass filter is proposed to control output peak current of motors, which safely improves the output power of motors.