Line Walking and Balancing for Legged Robots with Point Feet

The development of balance controllers for legged robots with point feet remains a challenge when they have to traverse extremely constrained environments. We present a balance controller that has the potential to achieve line walking for quadruped robots. Our initial experiments show the 90-kg robot HyQ balancing on two feet and recovering from external pushes, as well as some changes in posture achieved without losing balance. This work has been accepted to be presented at the IROS 2020 conference. For