Introduction to Humanoid Balance

Abstract

The concept of balance pervades all manner of human endeavor: we strive for balanced budgets, a balanced diet, fair and balanced journalism, balanced relationships, work/life balance, etc. A balanced state has positive connotations including equality, harmony, equilibrium, and symmetry. To be out of balance has negative implications, such as spiraling out of control. Balance often has competing or complementary interactions, such as debit and credit, liberalism and conservatism, and Yin and Yang. Too much of one, at the expense of the other, is typically seen as a bad thing. In math, there are balanced equations, and in chemistry, balanced reactions. Your body's biological systems achieve balance through homeostasis. Buildings are built so that they will balance, even perhaps in the event of earthquakes. The natural processes of the Earth maintain a balance between carbon dioxide and oxygen in the atmosphere. Gymnasts exhibit impressive balance in their routines, including on the aptly named balance beam. Last but not least, humanoid robots balance in order to not fall down when walking.