The 3D elastic quasi-static contact applied to robots control

This paper proposes a control strategy for the walking robot stability that takes into account the 3D elastic quasi-static contact. An algorithm for conditions detection in which the slip state transitions in a stick-slip motion and the state transition of nodes belonging to the contact area: stick, slip or open contact state is presented. The Coulomb friction laws on the contact boundary in 3D elastic quasi-static contact problems applied to robots control are analyzed. Finally, simulations of the occurrence conditions for the slip-stick transition which will allow elimination of robot slip states, through intelligent control techniques are studied.