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Virtual repository that provides support requests for individual robots
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ergoCub 1.1 S/N:001 – Neck motor tendon broken #1781

Closed evelyd closed 3 months ago

evelyd commented 3 months ago

Robot Name 🤖

ergoCub 1.0 S/N:001

Request/Failure description

During tests where the head was not explicitly controlled, using the WalkingModule, the neck jerked at a certain point and broke.

Detailed context

The walking motion was smooth up until the point that the neck jerked, and the controller we were using was not sending desired neck positions.

Additional context

Error message received when it broke: [ERROR] from BOARD 10.0.1.20 (head-eb20-j0_1) time=4871s 531m 342u : MC: i2t limit exceeded. The motor has been turned off to prevent it from being damaged by overheating due to a continuous high current. (Joint=neck_pitch (NIB=0))

Repository branches in use on the ergocub-torso at time of failure: robots-configuration: devel walking-controllers: dnn-mcp-prepare

https://github.com/robotology/icub-tech-support/assets/17877131/21deb219-a46b-4843-900e-e0f7f546ede9

Plot of the measured neck joint positions: neck_breaking

How does it affect you?

No response

SimoneMic commented 3 months ago

Today on Friday 22 we have a small demonstration at around 11.30/12.00. If the neck could be repaired in the morning it would be really super ❤️

I have switched the booking slot with Ines', so in the morning is free and if someone needs it for repairing it's available.

Thanks!

AntonioConsilvio commented 3 months ago

Hi @SimoneMic, We plan to intervene before your Demo!

cc @evelyd

AntonioConsilvio commented 3 months ago

@fbiggi and I replaced the neck tendon and the robot has been tested!

cc @SimoneMic

AntonioConsilvio commented 3 months ago

For some information about the tendon rupture see this comment

Closing!