Theory 033/Robotics & Autonomy
Balance Is a Margin
The claim
Humanoid balance recovery is set by the capture point margin rather than by the centre of mass position, so a robot inside its support polygon can still fall.
01The mechanism
The capture point includes velocity, so a moving robot's stabilisable region differs from its static footprint.
02Predictions
- P1Falls should occur inside the support polygon.
- P2Margin should predict recovery success.
03Refutation
Falls tracking centre of mass position would restore the static criterion.