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http://dx.doi.org/10.9728/dcs.2018.19.4.815

3D Simulation Study of Biped Robot Balance Using FPE Method  

Jang, Tae-ho (Institute for Fusion Technology for Production, Hanbat National University)
Kim, Youngshik (Department of Mechanical Engineering, Hanbat National University)
Ryu, Bong-Jo (Department of Mechanical Engineering, Hanbat National University)
Publication Information
Journal of Digital Contents Society / v.19, no.4, 2018 , pp. 815-819 More about this Journal
Abstract
In this study, we investigate balance of a biped robot applying Foot Placement Estimator (FPE) in simulation. FPE method is used to determine a stable foot location for balancing the biped robot when an initial orientation of the robot body is statically unstable. In this case, the 6-DOF biped robot with point foot is modelled considering contact and friction between foot and the ground. For simulation, the mass of the robot is 1 kg assuming the center of robot mass (COM) is located at the center of the robot body. The height from the ground to the COM is 1 m. Robot balance is achieved applying stable foot locations calculated from FPE method using linear and angular velocities, and the height of the COM. The initially unstable angular postures, $5^{\circ}$ and $-5^{\circ}$, of the robot body are simulated. Simulation results confirm that the FPE method provides stable balance of the robot for all given unstable initial conditions.
Keywords
Balancing; biped robot; FPE; point foot; 3D simulation;
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