Rescuing victims from a burning building, a chemical spill, or any disaster that is inaccessible to human responders could one day be a mission for resilient, adaptable robots. Imagine, for instance, rescue-bots that can bound through rubble on all fours, then rise up on two legs to push aside a heavy obstacle or break through a locked door. Engineers are making strides on the design of four-legged robots and their ability to run, jump and even do backflips. But getting two-legged, humanoid robots to exert force or push against something without falling has been a significant stumbling block. Now engineers at MIT and the University of Illinois at Urbana-Champaign have developed a method to control balance in a two-legged, teleoperated robot -- an essential step toward enabling a humanoid to carry out high-impact tasks in challenging environments.