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Postural stability is a requirement for autonomous adaptive legged locomotion. Neurobiological research lead to the idea that there are independent central systems for posture and locomotion, which interact when required. In this work we propose a posture control system focused in the standing posture context. We integrate the proposed posture system with a CPG design based on coupled nonlinear oscillators. The proposed system generates movements for posture correction which are modulateddoi:10.1109/iros.2010.5648945 dblp:conf/iros/SousaMS10 fatcat:v4pjyhthefcm3nou2obeazlhmm