Balance of humanoid robots by proper foot placement

Abstract

When humanoid robots are going to be used in society, they should be capable to maintain their balance. Balance of bipedal robots is defined as the state of the robot in which it is not fallen. We say that a robot is/remains in balance as long as it did not fall/is not going to fall. Balance of bipedal robots has been analyzed using numerous approaches. These approaches can rigorously be divided into two groups.