A novel control synthesis is proposed for humanoids to demonstrate unique foot tilting behaviors comparable to humans in balance recovery. Our study of model based behaviors explains the underlying mechanism and the significance of foottilting well. Our main algorithms are composed of impedance control at the center of mass, virtual stoppers that prevents overtilting of the feet, and postural control for the torso. The proof of concept focuses on the sagittal scenario and the proposed control is effective to produce human-like balancing behaviorscharacterized by active foot tilting. The successful replication of this behavior on a real humanoid proves the feasibility of deliberately controlled underactuation. The experimental validation was rigorously performed, and the data from the sub-modules and the entire control were presented and analyzed.
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