The head of the Poppy Humanoid is powered by two AX-12 motors. Aiming to improve a bit the efficiency and reduce the noise when the head is moving, we have decided to replace them by AX-18.
But actually, it appears AX-18 motors are very noisy when they keep a fixed position. We have few experience with these motors, we have always used either MX or AX-12, so maybe there are some tricks to reduce the noise ?
We tried to change the compliance_margin and torque_limit but it has no effect.
Does someone have the same issue and find suitable parameters to reduce the noise ? @Thot maybe ?
Yes, sorry, they make some noise. The best way to reduce the noise is not to ear…
I think it is due to slack in the gears. So software compensation seems to be not possible.
Hello,
As soon as we plug Poppy via an ethernet cable the annoying noise fades…
It seems that the light torque applied to the head by the cable’s weight is sufficient to avoid the motor oscillation.
Perhaps a clue for fixing this issue
