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Most humanoid robots have highly complicated structure and design of robotsthat are very similar to human is extremely difficult. In this paper, modellingof a general and comprehensive algorithm for control of humanoid robots ispresented using Colored Petri Nets. For keeping dynamic balance of the robot,combination of Gyroscope and Accelerometer sensors are used in algorithm. Imageprocessing is used to identify two fundamental issues: first, detection oftarget or an object which robot must follow; second, detecting surface of theground so that walking robot could maintain its balance just like a human andshows its best performance. Presented model gives high-level view of humanoidrobot's operations.

Modelling of Walking Humanoid Robot With Capability of Floor Detection and Dynamic Balancing Using Colored Petri Net