The design below shows the hierarchy for the leg system that raises itself to an elevated level while controlling the balance. The system than continues to control balance.

This is achieved by controlling a sequence perception of two events; standing up and then continuing to balance. Firstly, the angle (tachomoter reading) of joint B is controlled by bringing it to a point where the system moves upwards from its initial position. As a smoother means to this end the joint speed and acceleration are also controlled.

Secondly, control switches to continuing balance once the angle control system reaches its goal. At this point the angle system becomes inactive.