ergoCub 1.1 S/N:001 – Right hip roll motor overheating

[evelyd]

Robot Name 🤖

ergoCub 1.1 S/N:001

Request/Failure description

The right hip roll motor overheated.

Detailed context

It failed a couple of times in overcurrent, then by overheating, reaching over 100 degrees. This happened before it was supposed to start walking (i.e. had not moved yet). Icub Tech checked with a thermal camera and determined that the motor is probably burnt and needs to be replaced.

Additional context

https://github.com/robotology/icub-tech-support/assets/17877131/8734270f-ba8d-4ea2-b80b-2c5c2c01036b

How does it affect you?

Walking tasks can't be tested while there is this issue.

[GiulioRomualdi]

cc @DanielePucci @S-Dafarra @isorrentino

[S-Dafarra]

Related issue https://github.com/robotology/icub-tech-support/issues/1754

[sgiraz]

Hi guys,

As agreed, in the next few days @fbiggi and @AntonioConsilvio are going to clean/replace the motor.

@fbiggi, during the intervention to solve this issue, consider also #1755 if possible, please.

[sgiraz]

Today @fbiggi replaced the motor and with the help of @MSECode recalibrated the joint.

Let us know if the intervention resolved the issue mentioned above.

cc @evelyd @GiulioRomualdi @S-Dafarra

[vigisushrutha23]

Hi @sgiraz, @fbiggi @MSECode. Thanks for the fix. Yesterday, @mebbaid, Simone and myself ran multiple walking experiments. We did not face the hip roll motor overheating issue through 6 experiment runs, involving walking a distance of 1.5m for four of them while performing manipulation. We encountered the ankle motor overheating but restarting the motors after a brief cooldown period allowed us to do one more experiment without any issue.

[MSECode]

Good, good to know and thanks for the feedback regarding the motor behaviour. Thanks to @AntonioAzocar for the support on the cabling and calibration too.

cc: @valegagge

[sgiraz]

Awesome work, everyone! 🚀 Closing.