Multiple strategies for standing balance have been observed in humans, including using the ankles to apply torque to the ground, using the hips and/or arms to generate horizontal ground forces, and using the knees and hips to squat. This paper shows that multiple strategies can arise from the same optimization criterion. It is likely that humanoid robots will exhibit the same balance strategies as humans.
['Christopher G. Atkeson', 'Benjamin J. Stephens']
Multiple balance strategies from one optimization criterion