Support Polygon

A support polygon is the area on the ground created by the points where a person or robot contacts the surface—like the soles of shoes or feet. It defines the region within which the center of gravity (or balance point) must stay to keep from tipping over. Think of it as an invisible boundary that helps determine stability; staying within this boundary ensures balance and prevents falling. In robotics and biomechanics, analyzing the support polygon helps assess and improve stability during movement or standing.