Robot balance control estimates the machine's orientation, contact points and movement using sensors such as inertial units, joint encoders and force sensors. A controller then changes joint torque, body position or foot placement to prevent a fall or recover from a disturbance.
Dynamic actions such as running are harder than standing because stability changes throughout every step. Effective balance must account for momentum, actuator limits, surface contact and delays while leaving enough control capacity to pursue the robot's intended direction and speed.
Acronyms and aliases
humanoid balance control variantrobotic balance control variant
General terms
Frequently asked questions
What sensors help a humanoid robot balance?
Common inputs include inertial measurement units, joint encoders, foot pressure or force sensors, cameras and other sensors that estimate posture and contact.
Can a robot learn to balance?
Yes. Learned policies can contribute to balance, often alongside conventional feedback control, simulation training and safety constraints designed for the hardware.
