Title:  Balancing Made Simple

Abstract:

This talk describes some basic principles that can be used to simplify the
problem of balancing, and to achieve high-performance balancing in the sense
that the robot can make large, fast movements without losing its balance.
These principles are: (1) treat balancing as a physical process instead of a
control theory exercise; (2) express the balancing behaviour in a simple form;
(3) seek to control the balancing behaviour only; and (4) lean in anticipation
of future commanded motions.