Search for: [Abstract = "A strategy for re\-learning is proposed. The role of the decision support unit in the control system of the robot is presented. The importance of the stability check procedure is shown. A method of finding the stability region is described. Further improvements in the stability check procedure due to taking into account kinematic correction are reported. A description of the system for calculating static stability on\-line is given. Methods for measuring stance forces are described. The measurement of stance forces facilitates the extended stability check procedure. The correctness of the method is proved by results obtained in a real environment on a real robot."]

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