International Scientific Journals
of Scientific Technical Union of Mechanical Engineering "Industry 4.0"

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.