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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,...
When the wheels of the train slip on the rails, the torque is reduced to avoid the continuously slipping condition. This is because the coefficient between the wheels and the rails have a peak at a certain slip velocity. As the adhesive force changes at the rail condition, the wheels of the train suddenly slips. We propose to estimate the adhesive force by a disturbance observer. And the gradient...
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