What Is the Real Frictional Constraint in Biped Walking? - Discussion on Frictional Slip with Rotation

@article{Zhu2006WhatIT,
  title={What Is the Real Frictional Constraint in Biped Walking? - Discussion on Frictional Slip with Rotation},
  author={Chi Zhu and Atsuo Kawamura},
  journal={2006 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2006},
  pages={5762-5768}
}
In this paper, a new considering approach for frictional constraint is proposed. It is pointed out that the conventional method only considering translational friction is not appropriate for biped walking, and the frictional rotation constraint should be taken into account. It is stressed that the translational motion and rotational motion will occur simultaneously when slip starts in biped walking, and the frictional rotation constraint plays a more important role than the frictional… CONTINUE READING
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