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.