Abstract
In this paper, frictional constraint of the biped robot’s sole is deduced and verified in single support phase. Conventionally, the study of frictional constraint was only considered in translational slip. But there are not only translational slip but also twist in actual biped walking. In this study, a method to calculate the frictional force and torque is suggested as the quantitative expression of frictional constraint based on a biped robot model. The experimented results verify the proposed calculation approach of the frictional force and torque.
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