A Modification of the LuGre Friction Model for Potential Energy

Friction is a familiar phenomenon, but it is difficult to accurately describe its behavior. Many models have been proposed to represent friction. The representative one is the LuGre model, which approximates friction with bristle spring and damper. The LuGre model dissipates not all of the kinetic energy, but conserves part of it as potential energy in the bristle spring. This conserved energy is reconverted to kinetic energy at the time of motion reversal. It is counterintuitive that friction increases kinetic energy. In this study, we aim to realize a more intuitive simulation by releasing the potential energy at the motion reversal.