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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) phenomenon exhibited by steel brushes. In this model, friction is generated through the horizontal frictionless contact between asymmetric bristles and the contacted substrate. Numerical simulation and expreimental results demonstrate that the asymmetric bristle model can effectively illustrate the direction-dependent friction 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 symmetric 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 propterties, steel brush structures may have great application prospects and potential benefits in the field of legged robotics.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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