This paper deals with the comparison of analysis of two legged humanoid robots during walking. This research area is characterized by the fact that there are a lots of publications, most of which are based on the classic Zero-Moment-Point (ZMP) method. First, a brief overview is provided on humanoid robots, and also models for the dynamic behavior are discussed. As base for these models these two methods Denavit Hartenberg and the Newton-Euler are used. Main aim of this work is to investigate the stability of humanoid robot developed. There is currently the low base of robot – consisting of feet, legs, hips and upper part of robots body. First, the existing low base of humanoid robot was simulated using Matlab / SimMechanics, where the derived by Newton-Euler model was used.