In this paper,an asymmetric bristle model based on the combination of bristle model and LuGre model is proposed to explain the direction-dependent friction(i.e.,asymmetric friction)phenome-non exhibited by steel brushes.In this model,friction is generated through the horizontal frictionless con-tact between asymmetric bristles and the contacted substrate.Numerical simulation and expreimental re-sultsdemonstrate that the asymmetric bristle model can effectively illustrate the direction-dependent fric-tion phenomenon.Furthermore,in a simulation study of a planar biped robot,results show that applying this model can improve the maximum motion speed of the planar biped robot compared to using a symmet-ric friction model.Additionally,exmprimental resutls indicate that compared to rubber materials,steel brushes possess the advantages of high friction and abrasion resistance.Therefore,due to these propter-ties,steel brush structures may have great application prospects and potential benefits in the field of legged robotics.
维普
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