Abstract: “Humanoid robots movement without lying down in ground is of major importance This thesis focuses on the hip-ankle strategy as a method to maintain balance when subjected to a large disturbance. This strategy is characterised by a large rotation of the hip joint which repositions the Centre of Mass (CoM). The hip-ankle strategy is compared to the ankle strategy which locks the hip joint and compensates for a disturbance by applying ankle torque. Various hip-ankle strategy controllers have been presented in literature of which three im- plementations on humanoid robots are known. However, none of the research provided ex- perimental evidence that a humanoid robot can withstand larger disturbances by using the hip- ankle strategy compared to the ankle strategy.”

Keywords: resulting, maintaining, improving, Stumble