  This paper presents a model-based balance stabilization system which takes
into account not only the stable part of COM dynamics but also the unstable
part. In this system, the overall dynamics of a humanoid robot is approximated
using a Linear Inverted Pendulum Plus Flywheel Model (LIPPFM). Moreover,
Divergent Component of Motion~(DCM) is used to define when and where a robot
should take a step to prevent falling. The proposed system has been
successfully tested by performing several simulations using MATLAB. The
simulation results show this system is capable of stabilizing the balance of
the robot in various conditions.
