Getting 2-legged robots to perform balancing moves is easier said than done. This video from Koroibot shows HeiCub performing torque balancing. The robot can lifts its leg in the air and switch contact points while staying balanced.
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HeiCub performing torque balancing with contacts switching
For those of you not familiar, this humanoid robot is a reduced version of the iCub robot. It uses a control software developed by IIT. More information is available here.
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