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Compensation movement is computed according to the analysis on the energy of LIPM and the influence of disturbance to the energy. The experimental results from both the simulation and the physical robot not only proved effective but also explain various human reactions to disturbance in locomotion.<\/jats:p>","DOI":"10.1017\/s0263574708005298","type":"journal-article","created":{"date-parts":[[2009,1,21]],"date-time":"2009-01-21T10:01:04Z","timestamp":1232532064000},"page":"883-889","source":"Crossref","is-referenced-by-count":11,"title":["Tip over avoidance control for biped robot"],"prefix":"10.1017","volume":"27","author":[{"given":"Tang","family":"Qing","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiong","family":"Rong","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chu","family":"Jian","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,1,21]]},"reference":[{"key":"S0263574708005298_ref9","unstructured":"9. 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