The human torso motion about its upright position is analyzed and modeled by a feedback system where the ground reaction forces and constraint torques are explicitly computed. Further, Euler angles and body angular velocities are selected as state variables to simplify the dynamics. The general stability of this system is considered via Lyapunov’s second method. Two methods of preventing self rotation are discussed: Linear feedback law and holonomic torque constraints. The stability solution is verified by digital computer simulation.

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