Title :
About friction in walking machines
Author :
Pfeiffer, F. ; Roßmann, Th
Author_Institution :
Lehrstuhl B fur Mech., Tech. Univ. Munchen, Garching, Germany
Abstract :
In realizing walking machines friction plays an important role which cannot be neglected. Friction will be generated in contacts of the feet with the ground and in drives including gears. Friction influences the power budget and thus the selection of motors, and it influences significantly the control concepts. The paper gives a general description of friction and a walking machine example
Keywords :
drives; friction; legged locomotion; manipulators; matrix algebra; robot dynamics; robot kinematics; gears; power budget; unilateral dynamics; walking machines; Acceleration; Equations; Friction; Gears; Lagrangian functions; Legged locomotion; Robot control; Robot kinematics; Symmetric matrices;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.846349
