These are my Research Publications on cs and robotic related solutions.
I journal daily as well!
This research builds on existing modeling work for the Cornell Ranger, a passive dynamic walking robot developed for low power usage. In brushed DC motors, such as the one within the MX-28 servo motor, a voltage drop exists between the brushes and the commutator due to inherent resistance at the contact interface. While the motor torque-speed performance curve is known from previous studies and manufacturer data, this contact voltage drop has not been previously characterized.
Using a cantilever setup with a load cell, where the MX-28 test motor is connected to a brake motor, an external torque is applied to stall the test motor. The motor current and voltage are measured with an INA169 Sensor under a specified set of stall torques in order to determine the contact voltage drop at the brushes. The results of these experiments will be employed towards the optimal motion planning of walking robots based on their energy expenditure.