Mobile robot leg actuator torque balancing and related technology

A method of operating a mobile robot, wherein:

• during the method:
• the mobile robot includes a body and a leg extending distally from the body, the leg defines a kinematic chain and includes:
• a first joint rotatable about a first axis,
• a second joint distal to the first joint along the kinematic chain and rotatable about a second axis,
• a first elongate link between the first and second joints along the kinematic chain, and
• a second elongate link distal to the second joint along the kinematic chain,
• the first elongate link defines a length intersecting the first and second axes at the first and second joints, respectively, and
• the mobile robot defines:
• a center of pressure,
• a center of gravity,
• a first plane that is vertical and parallel to the length of the first elongate link, and
• a second plane that intersects the center of pressure, intersects the center of gravity, and is perpendicular to the first plane;
• and
• the method comprises:
• operating the mobile robot in a standing state while the length of the first elongate link is less than 45 degrees off vertical, and
• operating the mobile robot in a non-standing state while the length of the first elongate link is less than 30 degrees off horizontal and while the second plane intersects a middle 25% of the length of the first elongate link.