Abstract
In this paper, two-dimensional analysis of biped sliding dynamics is considered. First, the dynamics of a biped robot based on feet slip are derived using coulomb friction model. The state transition can be formulated in the centroid acceleration space, whose diagram is defined as a "triangle of sliding friction" (TSF). As for a TSF, its characteristics are explained; the comparison with the cone of friction which is similar diagram about state decision, and the range of application to a multi-legged robot and a sloping surface. Moreover, the behavioral simulation of a 2-DOF mechanical model is achieved to analyze the acceleration path in the TSF from the viewpoint of the asymmetry of dynamics parameters.
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