Stability and Dynamic Walk Control of Humanoid Robot for Robot Soccer Player

Robotic football with humanoid robots is a multidisciplinary field connecting several scientific fields. A challenging task in the design of robot for AndroSot and HuroCup competitions realization movement on field. This study aims to determine walking pattern an impact its dynamic stability behavior. The proposed technical concept depends management mechanism, speed such factors as chosen approaches. versatility, along adaptability terrain, are somewhat limited due complexity principle control robot’s itself. uses potential force inertial bodies their parts so that does not overturn. total height according rules competition will be 50 cm. In performed experiment, only lower part added weight was considered, which more demanding non-use upper limbs stabilization. experiment verified correctness design, where torso eight steps inclinations roll angle +4/−2° pitch +4/−6°.