The estimation and management of motor temperature are important for the continuous movements of robots. In this study, we propose an online learning method of thermal model parameters of motors for an accurate estimation of motor core temperature. Also, we propose a management method of motor core temperature using the updated model and anomaly detection method of motors. Finally, we apply this method to the muscles of the musculoskeletal humanoid and verify the ability of continuous movements.

翻译：电机温度的估计与管理对于机器人实现连续运动至关重要。本研究提出一种电机热模型参数的在线学习方法，以实现对电机核心温度的精确估计。同时，我们提出一种基于更新模型的电机核心温度管理方法及电机异常检测方法。最后，我们将该方法应用于仿生肌肉骨骼机器人的肌肉驱动系统，验证其实现连续运动的能力。