@inproceedings{a5bcd5e5ad404e588cabf5cb1d18cfec,
title = "HIP-torque limit for no-slip conditions and estimation of frictional coefficients for legged robots",
abstract = "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.",
keywords = "Biologically inspired terrestrial robot, Legged robots, Traction force",
author = "Shin, {Dong Hwan} and Youngshik Kim and Jinung An",
year = "2010",
doi = "10.2316/P.2010.703-033",
language = "English",
isbn = "9780889868595",
series = "Proceedings of the IASTED International Conference on Robotics, Robo 2010",
pages = "170--174",
booktitle = "Proceedings of the IASTED International Conference on Robotics, Robo 2010",
note = "IASTED International Conference on Robotics, Robo 2010 ; Conference date: 24-11-2010 Through 26-11-2010",
}