Abstract: Low-friction foot/ground contacts present a particular challenge for stable bipedal walkers. The slippage of the stance foot introduces complexity in robot dynamics and the general locomotion stability results cannot be ...

Abstract: Shoe–floor interactions play a crucial role in determining the possibility of potential slip and fall during human walking. Biomechanical and tribological parameters influence the friction characteristics between the shoe ...

Abstract: Modeling of the soft-solid frictional interactions plays an important role in many robotic and mechatronic systems design. We present a new model that characterizes the two-dimensional (2D) soft-solid contact interactions. ...