Abstract
In many researches for a humanoid balance control, the floor reaction force operation and the center of gravity acceleration operation according to it have been discussed as a center problem. However, in order to act in a real complicated environment for humanoid, it is essentially indispensable to switch the balance maintenance actions according to time constraint like taking a step or falling down defensively. In this research, the balance return action generation method corresponding to time constraint is described. The effectiveness is shown by the balance simulation.
