Postural Stability of Biped Robots and the Foot-Rotation Indicator (FRI) Point

@article{Goswami1999PosturalSO,
  title={Postural Stability of Biped Robots and the Foot-Rotation Indicator (FRI) Point},
  author={Ambarish Goswami},
  journal={I. J. Robotics Res.},
  year={1999},
  volume={18},
  pages={523-533}
}
The focus of this paper is the problem of foot rotation in biped robots during the single-support phase. Foot rotation is an indication of postural instability, which should be carefully treated in a dynamically stable walk and avoided altogether in a statically stable walk. We introduce the foot-rotation indicator (FRI) point, which is a point on the foot/ground-contact surface where the net groundreaction force would have to act to keep the foot stationary. To ensure no foot rotation, the FRI… CONTINUE READING
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