Unverified50% confidenceFactExact time
For a humanoid robot to remain upright, the projection of its center of mass must always fall within the support polygon formed by its two feet.
1
Sources
50%
Confidence
Long-term
Relevance
9/5/2026
First Seen
Sources
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Related Claims
UnverifiedThe support polygon refers to the convex polygon formed by the projections of all grounded foot endpoints of a robot onto the horizontal plane; when the vertical projection of the center of mass falls within it, the robot is in a statically stable state.78% similarUnverifiedHumanoid robots are underactuated systems due to their bipedal locomotion, meaning the number of actuated degrees of freedom is fewer than the total degrees of freedom of the system.73% similarUnverifiedA bipedal robot is essentially an underactuated system, analogous to an inverted pendulum.70% similarUnverified轮式机器人早已远超人类奔跑速度，因此单纯的速度超越人类缺乏技术含金量，真正有价值的是人形形态下的双足动态运动能力69% similarUnverifiedThe core control challenge of quadruped robots lies in dynamic balance—that is, real-time adjustment of foot placement and torque distribution across four legs during walking, load changes, or uneven terrain.69% similar
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