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This paper presents a model-based balance stabilization system which takesinto account not only the stable part of COM dynamics but also the unstablepart. In this system, the overall dynamics of a humanoid robot is approximatedusing a Linear Inverted Pendulum Plus Flywheel Model (LIPPFM). Moreover,Divergent Component of Motion~(DCM) is used to define when and where a robotshould take a step to prevent falling. The proposed system has beensuccessfully tested by performing several simulations using MATLAB. Thesimulation results show this system is capable of stabilizing the balance ofthe robot in various conditions.

A Model-Based Balance Stabilization System for Biped Robot