[ODE] friction without adhesive force

[Frans Fürst]

Hello,

I want to modelize a simple robot that is pulled about using friction
without adhesive force (like gliding on a film of honey).

When I understand ODEs fricton model correctly there's nothing like a
"adhesive force"-coefficient, am I right?

Is there a simple way to achieve lim v = const * f ?

Thanks,
Frans
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