Whole-Body Balance Control of a Humanoid Robot in Real Time Based on ZMP Stability Regions Approach Articles uri icon

publication date

  • January 2018

start page

  • 521

end page

  • 537


  • 7-8


  • 49

International Standard Serial Number (ISSN)

  • 0196-9722

Electronic International Standard Serial Number (EISSN)

  • 1087-6553


  • One of the most important and complex tasks for a humanoid robot is to avoid overturning during a bipedal gait. This work aims at setting the base for designing a general balance controller to be used with any humanoid robot. In addition, it is based on a strong simplification of humanoid model which attempts to be used in real-time applications. In particular, several "stability zones" are defined as function of the criticalness of balance. The results are presented in simulation and experimentally, using the humanoid platforms HOAP-3 and TEO.


  • Robotics and Industrial Informatics


  • humanoid robot; double inverted pendulum; balance controller; stability zones