DocumentCode
2056918
Title
About friction in walking machines
Author
Pfeiffer, F. ; Roßmann, Th
Author_Institution
Lehrstuhl B fur Mech., Tech. Univ. Munchen, Garching, Germany
Volume
3
fYear
2000
fDate
2000
Firstpage
2165
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.846349
Filename
846349
Link To Document