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