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In this paper, we propose a new approach for a humanoid balance control. In previous research, a balance control of a humanoid was regarded as a method which absorbs the difference of assumed environment model and real environment. In contrast, we focus on generating bracing motions using prediction of time serise of external force. We introduce a disturbance preview control method to generate bracing behavior against external impact. In order to reduce ZMP error at the moment of externaldoi:10.1109/ichr.2005.1573584 dblp:conf/humanoids/KanzakiOI05 fatcat:6agdfy6i4bhodelui33rwwujje