Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 2001.04a
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- Pages.574-577
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- 2001
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- 2005-8446(pISSN)
Stability Analysis of a Biped Robot using FRI
FRI를 이용한 이족 보행 로봇의 안정도 해석
Abstract
This paper presents the comparison of FRI(Foot Rotation Indicator) point and ZMP(Zero Moment Point) in biped robot stability. We showed FRI may be employed as a useful tool in stability analysis in biped robot. Also, we proposed the balancing joint trajectory derived from FRI point equation for stable gait. The numerical calculation routines and walking algorithms for simulation are performed by MATLAB. The procedure is composed of the leg trajectory planning, the generation of balancing trajectory, and the verification of dynamic stability.
Keywords