Research Article
Analysis of Stiffness and Energy Consumption of Nonlinear Elastic Joint Legged Robot
Table 2
Friction parameters of rotary motion.
| Parameter | Value |
| Mu static | 0.5 | Mu dynamic | 0.8 | Friction arm | 10 | Bending reaction arm | 10 | Pin radius | 10 | Static transition velocity | 0.1 | Max static friction deformation | 0.01 | Friction torque preload | 0 |
|
|