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Integral Control of Humanoid Balance Benjamin Stephens The Robotics Institute Carnegie Mellon University Pittsburgh PA USA bstephenscmu

edu httpwwwcscmuedu bstephe1 Abstract This paper presents a balance controller that allows a humanoid to recover from large disturbances and still maintain an upright posture Balance is achieved by integral control which decouples the dynamics and p

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Integral Control of Humanoid Balance Benjamin Stephens The Robotics Institute Carnegie Mellon University Pittsburgh PA USA bstephenscmu






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