In this paper. a real-time balance control method is designed and implemented on a field-programmable gate array (FPGA) chip for a small-sized humanoid robot. In the proposed balance control structure. there are four modules: (1) external force detection. https://www.jmannino.com/super-super-University-of-Arizona-Primary-Mark-iPhone-14-Plus-MagSafe-Case-p76978-deal-zone/