Contact Modeling between the Ground and the Galloping Quadruped Robot Considering Statistical Characteristics of Coulomb Friction Coefficients

쿨롱 마찰계수들의 통계적 특성을 고려한 지면과 갤러핑을 하는 4 족 로봇간 접촉 모델링

The effects of the statistical properties of the Coulomb friction coefficients on the dynamic responses of a galloping quadruped robot are investigated in this paper. In general, the Coulomb friction coefficients are assumed to be deterministic for a controller design to achieve required motion characteristics. However, the friction coefficients between the ground and the robot legs are not constant in reality. Therefore, statistical characteristics of the friction coefficients need to be considered for a multi-body modeling of the robot galloping on the ground. The effects of the statistical properties on the dynamic responses of the quadruped robots are investigated.