FRICTION COEFFICIENT MEASUREMENT DEVICE, FRICTION COEFFICIENT MEASUREMENT SYSTEM, AND WALKING ROBOT

摘要

PROBLEM TO BE SOLVED: To provide a friction coefficient measurement device, a friction coefficient measurement system, and a walking robot capable of more accurately measuring a friction coefficient between a measured object surface and a contract part.SOLUTION: The friction coefficient measurement device includes: a load reception part 12 for receiving a load; a first contact part 14 and a second contact part 16 having contact faces 15, 17 that contact a measured object surface G; a link mechanism 21; and a detection part 24 for measuring a load in a vertical direction and a parallel direction that acts on the contact faces 15, 17. The link mechanism 21 includes: a first link 20 that connects the load reception part 12 with the first contact part 14; and a second link 22 formed of an elastic member that connects the load reception part 12 with the second contact part 16. An angle θmade by the vertical direction and the second link 22 is larger than an angle θmade by the vertical direction and the first link 20.SELECTED DRAWING: Figure 2