Regbot motor parameters

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Motor parameters

The Regbot has a built-in estimator of motor parameters. This relies on a poorly designed motor current measurement and noisy velocity measurements.

Measured values (Km, R, L)

These measurements were taken during maintenance in January 2026; not all values were saved, but the list can be used as a guide, when creating a simulated model of the robot.

ID	Name		K-left	K-right	R-left	R-right	L-left	L-right	
	        	(V/(rad/sec))	(Ohm)	(Ohm)	(Henry)  	(Henry)
 1	Emma		0.0094	0.0096	2.4	7.8	5.6E-03 	6.4E-03
 2	Sofia		0.0096	0.0095	2.8	8.3	4.7E-03 	7.0E-03
 3	Ida		0.0105	0.0102	3.4	4.0	7.8E-03 	3.6E-03
 8	Ella		0.0111	0.0111	2.2	5.2	3.8E-03 	3.7E-03
10	Karla		0.0128	0.0126	3.6	8.2	4.5E-03 	15.7E-03
18	Agnes		0.0118	0.0116	3.2	6.3	6.1E-03 	6.5E-03
19	Lily		0.0113	0.0110	3.5	4.8	4.9E-03 	4.0E-03
25	Emilie		0.0095	0.0090	8.8	4.3	15.7E-03	3.2E-03
30	Rosa		0.0123	0.0122	2.9	7.6	5.9E-03 	6.5E-03
31	Lea		0.0104	0.0105	3.6	5.5	6.0E-03 	4.5E-03
32	Signe		0.0128	0.0120	3.0	7.8	5.1E-03 	6.8E-03
33	Filippa		0.0097	0.0099	2.6	5.5	5.6E-03 	4.3E-03
34	Julie		0.0114	0.0117	2.6	7.8	4.5E-03 	8.7E-03
36	Liv		0.0130	0.0126	2.8	5.2	4.1E-03 	2.9E-03
37	Vigga		0.0110	0.0111	3.2	9.5	4.5E-03 	26.6E-03
38	Nanna		0.0105	0.0125	4.3	5.7	8.9E-03 	4.4E-03
39	Naja		0.0103	0.0104	3.7	6.1	6.7E-03 	3.9E-03
40	Alba		0.0122	0.0124	2.9	4.4	3.0E-03 	2.6E-03
42	Aya		0.0120	0.0104	2.7	6.4	4.3E-03 	6.6E-03
44	Luna		0.0113	0.0110	3.5	6.2	6.6E-03 	4.8E-03
45	Malou		0.0122	0.0122	3.1	7.9	3.8E-03 	6.2E-03
46	Esther		0.0110	0.0106	2.9	4.8	5.8E-03 	3.9E-03
47	Celina		0.0105	0.0106	2.9	6.9	5.6E-03 	5.7E-03
49	Andrea		0.0095	0.0095	3.9	4.4	11.7E-03	4.4E-03
50	Silje		0.0098	0.0098	2.2	6.5	3.6E-03 	5.1E-03
52	Adriana		0.0091	0.0095	4.6	9.6	8.3E-03 	9.0E-03
53	Dicte		0.0127	0.0121	3.5	4.5	14.7E-03	3.8E-03
54	Silke		0.0107	0.0099	2.6	7.1	5.5E-03 	5.8E-03
56	Gry		0.0104	0.0113	2.7	6.5	4.4E-03 	6.0E-03
57	Tania		0.0098	0.0103	3.3	6.4	6.8E-03 	6.9E-03
58	Susanne		0.0096	0.0099	3.4	7.3	5.6E-03 	6.6E-03
60	Birte		0.0100	0.0099	2.7	9.4	6.1E-03 	7.0E-03
61	Dagmar		0.0116	0.0116	3.2	5.6	3.8E-03 	3.3E-03
64	Molly		0.0108	0.0113	4.9	4.4	9.9E-03 	3.9E-03
65	Ingrid		0.0112	0.0117	2.0	3.6	2.4E-03 	2.0E-03
67	Nicolin		0.0104	0.0116	2.2	7.6	4.3E-03 	5.9E-03
68	Tilde		0.0114	0.0110	2.2	4.0	4.1E-03 	7.1E-03
69	Europa		0.0105	0.0096	2.5	3.8	4.8E-03 	4.3E-03
70	Saga		0.0128	0.0127	2.5	5.4	3.5E-03 	3.7E-03
72	Emilia		0.0100	0.0092	2.7	7.3	3.9E-03 	6.2E-03
77	Alex		0.0118	0.0122	1.4	3.5	1.6E-03 	2.1E-03
78	Melina		0.0120	0.0113	2.7	3.7	3.2E-03 	2.1E-03
79	Amanda		0.0182	0.0119	2.2	3.2	6.0E-03 	1.6E-03
80	Hannah		0.0115	0.0114	2.2	5.5	2.0E-03 	3.0E-03
81	Jasmin		0.0117	0.0119	2.1	4.2	2.1E-03 	2.3E-03
84	Cleo		0.0111	0.0112	2.3	5.6	2.0E-03 	3.7E-03
85	Solvej		0.0114	0.0114	3.1	6.1	4.3E-03 	3.9E-03
87	Ronja		0.0111	0.0114	2.5	6.0	2.7E-03 	3.2E-03

Measured values (Friction and inertia)

These measurements were taken during maintenance in January 2026; not all values were saved, but the list can be used as a guide, when creating a simulated model of the robot.

ID	Name		D-left	D-right	J-left	J-right	
%			(Nm/(rad/sec))		(Kgm^2)	(Kgm^2)
1	Emma		1.2E-06 	815.7E-09	1.3E-03 	861.8E-06
2	Sofia		1.4E-06 	1.4E-06 	1.3E-03 	863.2E-06
3	Ida		913.7E-09	2.1E-06 	1.1E-03 	1.9E-03
8	Ella		8.5E-06 	8.5E-06 	4.3E-03 	4.0E-03
10	Karla		2.9E-06 	2.8E-06 	1.4E-03 	1.2E-03
18	Agnes		5.5E-06 	5.5E-06 	1.5E-03 	1.3E-03
19	Lily		1.0E-06 	1.1E-06 	1.2E-03 	1.6E-03
25	Emilie		883.4E-09	2.1E-06 	960.7E-06	3.7E-03
30	Rosa		17.4E-06	3.2E-06 	4.8E-03 	3.3E-03
31	Lea		1.5E-06 	1.7E-06 	2.6E-03 	3.6E-03
32	Signe		7.3E-06 	4.1E-06 	4.2E-03 	3.6E-03
33	Filippa		2.6E-06 	2.9E-06 	3.4E-03 	3.4E-03
34	Julie		2.5E-06 	2.5E-06 	4.7E-03 	3.1E-03
36	Liv		4.0E-06 	4.5E-06 	3.9E-03 	5.0E-03
37	Vigga		2.3E-06 	1.3E-06 	3.7E-03 	2.5E-03
38	Nanna		1.3E-06 	1.2E-06 	2.5E-03 	4.2E-03
39	Naja		1.2E-06 	1.7E-06 	2.6E-03 	3.4E-03
40	Alba		4.3E-06 	4.5E-06 	3.8E-03 	4.9E-03
42	Aya		4.6E-06 	1.6E-06 	4.4E-03 	3.0E-03
44	Luna		1.9E-06 	2.5E-06 	3.4E-03 	3.9E-03
45	Malou		2.4E-03 	3.0E-06 	3.1E-03 	3.1E-03
46	Esther		1.9E-06 	2.4E-06 	4.0E-03 	4.0E-03
47	Celina		2.0E-06 	1.6E-06 	3.9E-03 	3.2E-03
49	Andrea		1.8E-06 	2.9E-06 	2.1E-03 	3.9E-03
50	Silje		2.7E-06 	1.3E-06 	4.2E-03 	2.7E-03
52	Adriana		1.7E-06 	1.6E-06 	1.9E-03 	1.7E-03
53	Dicte		3.4E-06 	3.3E-06 	3.4E-03 	4.6E-03
54	Silke		3.4E-06 	2.0E-06 	3.7E-03 	2.8E-03
56	Gry		2.5E-06 	1.8E-06 	3.7E-03 	3.3E-03
57	Tania		1.4E-06 	1.4E-06 	2.9E-03 	3.1E-03
58	Susanne		1.9E-06 	1.6E-06 	2.7E-03 	2.6E-03
60	Birte		780.2E-09	726.3E-09	3.4E-03 	2.0E-03
61	Dagmar		1.8E-06 	1.7E-06 	3.1E-03 	3.4E-03
64	Molly		1.8E-06 	3.7E-06 	2.2E-03 	4.4E-03
65	Ingrid		1.5E-06 	2.4E-06 	4.5E-03 	5.9E-03
67	Nicoline	2.8E-06 	1.5E-06 	4.2E-03 	2.9E-03
68	Tilde		2.3E-06 	3.3E-06 	4.5E-03 	5.0E-03
69	Europa		2.6E-06 	2.6E-06 	4.0E-03 	4.9E-03
70	Saga		4.4E-06 	4.2E-06 	4.3E-03 	3.9E-03
72	Emilia		1.8E-06 	1.9E-06 	3.3E-03 	2.4E-03
77	Alex		3.1E-06 	2.6E-06 	7.0E-03 	8.1E-03
78	Melina		1.6E-06 	8.0E-06 	3.5E-03 	5.1E-03
79	Amanda		4.0E-06 	2.3E-06 	11.4E-03	6.3E-03
80	Hannah		1.5E-06 	1.2E-06 	4.6E-03 	3.5E-03
81	Jasmin		1.8E-06 	1.9E-06 	4.7E-03 	5.0E-03
84	Cleo		1.6E-06 	1.2E-06 	4.3E-03 	3.3E-03
85	Solvej		1.1E-06 	1.4E-06 	3.2E-03 	3.3E-03
87	Ronja		1.8E-06 	1.3E-06 	4.2E-03 	3.6E-03