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The ability of legged systems to traverse highly-constrained environmentsdepends by and large on the performance of their motion and balancecontrollers. This paper presents a controller that excels in a scenario thatmost state-of-the-art balance controllers have not yet addressed: line walking,or walking on nearly null support regions. Our approach uses a low-dimensionalvirtual model (2-DoF) to generate balancing actions through a previouslyderived four-term balance controller and transforms them to the robot through aderived kinematic mapping. The capabilities of this controller are tested insimulation, where we show the 90kg quadruped robot HyQ crossing a bridge ofonly 6 cm width (compared to its 4 cm diameter spherical foot), by balancing ontwo feet at any time while moving along a line. Lastly, we present ourpreliminary experimental results showing HyQ balancing on two legs while beingdisturbed.

Line Walking and Balancing for Legged Robots with Point Feet