Hip-Torque Limit for No-Slip Conditions and Estimation of Frictional Coefficients for Legged Robots

D.-H. Shin, Y. Kim, and J. An (Korea)


legged robots, traction force, biologically inspired terrestrial robot


In this paper, we discuss no-slip conditions and traction limitations for legged robots in order to realize feasible torque commands. Toward this goal, we determine hip torque limits using a general robot model and no-slip ground conditions. We also describe how we can experimentally estimate coefficients of friction between legged robots and the ground using hip-torque limits.

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