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LunaDrive: A Delay-Compensated High-Voltage GaN FET-Based Motor Driver for Dynamic Robots with Flat BLDC Motors

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

The performance improvement of high-power flat BLDC motors has accelerated the development of dynamic robots. However, many commercially available servo motors assume operating voltages of 48 V or lower, which limits the maximum rotational speed. Dynamic robots require rapid energy generation, so this voltage constraint restricts motion performance. Therefore, driving motors beyond the rated voltage is desirable to increase the instantaneous maximum speed. On the other hand, semiconductor devices used in motor drivers have a trade-off between voltage rating and current capacity. Conventional d

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