# A Model-Based Balance Stabilization System for Biped Robot

## TL;DR

This paper introduces a model-based balance stabilization system for biped robots that uses an advanced dynamic model and DCM to improve stability, validated through MATLAB simulations.

## Contribution

It proposes a novel stabilization system combining LIPPFM and DCM for enhanced biped robot balance control, validated via simulation.

## Key findings

- Successfully stabilizes robot balance in various simulated conditions
- Utilizes LIPPFM for accurate dynamic approximation
- Employs DCM to determine stepping strategies

## Abstract

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