Frictional force measurement during stick-slip motion of a piezoelectric walker

The stick-slip actuator motion is dependent on its natural frequency. The backward motion of the actuator during the slip phase due to the stiffness alters the motion of any stick-slip friction principle based positioners drastically. This work is an attempt to design and fabricate a simple and compact piezoelectric walker integrated with a force sensor to measure the frictional force during the slip phase. The underlying idea is to achieve a smooth motion of the walker by understanding the dynamics during slipping