Estimation of Friction Coefficient for Exploring Robot around Rough-Terrain under Small-Slip or Less-Traction Condition

Abstract

One of the important factors for the exploration robot to travel in diverse environments is estimation of friction coefficient on the ground. Algorithm for estimating friction coefficient based on the Traction-Slip Curve developed in the previous research is a method for estimating friction coefficient when there is slip generated while the robot is driving. However, in many cases, sufficient slip does not occur in the real environment. In this paper, we divided into 4 cases according to the slip ratio and traction. In the case of low slip occurrence, we modified the algorithm to estimate the friction coefficient on the low slip area based on the previously estimated ground information. And we show the result of estimation of friction coefficient under the condition of low slip through the simulation based on the proposed method.