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These constraints enable the robot to avoid turnover during external disturbances similar to how a human being would react. Moreover, for a disturbance beyond the balance conditions for single-leg support, the robot changes to a double support posture to avoid turnover by the virtual holonomic constraints. Further, for a special kind of balance: standing on toe which leads to underactuation, we also give the design conditions of the virtual holonomic constraints.<\/jats:p>","DOI":"10.1017\/s0263574714002215","type":"journal-article","created":{"date-parts":[[2014,8,15]],"date-time":"2014-08-15T10:55:00Z","timestamp":1408100100000},"page":"1227-1242","source":"Crossref","is-referenced-by-count":2,"title":["Balance control of planar biped robots using virtual holonomic constraints"],"prefix":"10.1017","volume":"34","author":[{"given":"Yong","family":"Hu","sequence":"first","affiliation":[]},{"given":"Zhiyun","family":"Lin","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2014,8,15]]},"reference":[{"key":"S0263574714002215_ref16","unstructured":"M. Sobotka M. Scheint and M. 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