the measurement of rabbit’s knee friction with a pendulum friction tester

Friction and the Inverted Pendulum Stabilization Problem

Abstract We consider an experimental system consisting of a pendulum, which is free to rotate 360 degrees, attached to a cart. The cart can move in one dimension. We study the effect of friction on the design and performance of a feedback controller, a linear quadratic regulator, that aim to stabilize the pendulum in the upright position. We show that a controller designed using a simple viscou...

A two-wheeled inverted pendulum robot with friction compensation

This paper introduces a method of design and implementation of a two-wheeled inverted pendulum (TWIP) robot with friction compensation. Friction in the drive mechanism is a critical factor of robot self-balancing and affects its performance. The friction parameters are identified based on the dynamic model of the drive mechanism. The dynamics of the whole robot system are obtained by the Lagran...

Friction & Roughness Measurement of Elastomer

Friction measurement in a hip wear simulator.

A torque measurement system was added to a widely used hip wear simulator, the biaxial rocking motion device. With the rotary transducer, the frictional torque about the drive axis of the biaxial rocking motion mechanism was measured. The principle of measuring the torque about the vertical axis above the prosthetic joint, used earlier in commercial biaxial rocking motion simulators, was shown ...

Measurement of friction coefficients with the atomic force microscope

A new axial method for measuring the friction coefficient with the atomic force microscope is given. This axial method requires no calibration steps and is performed simultaneously with a normal force measurement by measuring the difference between the constant compliance slopes of the extend and retract force curves. The algorithm can be applied retrospectively to extract the friction coeffici...

Eliminating friction with friction: 2D Janssen effect in a friction-driven system.

The Janssen effect is a unique property of confined granular materials experiencing gravitational compaction in which the pressure at the bottom saturates with an increasing filling height due to frictional interactions with side walls. In this Letter, we replace gravitational compaction with frictional compaction. We study friction-compacted 2D granular materials confined within fixed boundari...