Abstract：In this paper, an asymmetric bristle model based on the combination of bristle model and LuGre model is proposed to explain the phenomenon of direction-dependent friction(asymmetric friction) exhibited by steel brush. In this model, the friction is generated through the horizontal frictionless contact between the asymmetric bristles and the contacted substrate. It is shown from the numerical simulation and expreimental results that the asymmetric bristle model can illustrate the phenomenon of the direction-dependent friction pretty well. Furthermore, in the simulation study of planar biped robot, the results show that with the application of this model, the maximum motion speed of the planar biped robot can be improved compared to the symmetric friction model. Besides, the exmprimental resutls indicate that compared to rubber materials the steel brush possesses the advantages of high friction and abrasion resistance. Thus, based on these propterties, the steel brush structure may have great application prospects and potential advantages in the field of legged robots.
2024, Vol. 45 
