It is expected that the humanoid robots of the near future will ‘live’ and work in a common environment with humans. This imposes the requirement that their operational efficiency ought to be close to that of men. The main prerequisite to achieve this is to ensure the robot’s efficient motion that is its ability to compensate for the ever-present disturbances. The work considers the strategies of how to compensate for the disturbances of different intensities: small which are permanently present and large that jeopardize the robot’s dynamic balance instantly. It was illustrated that those two classes of disturbances require quite different compensation approaches.