The dynamic characteristics of humanoid robot are complex

coupled and nonlinear. Therefore

the balance control for humanoid robot is significant in research. The research of an intelligent humanoid service robot system is presented. Firstly

the intelligent biped humanoid robot (HUBO) is used as a test platform to analyze its balance system and gait generation based on ZMP algorithm in different situations. The control methods are also analyzed to ensure the walking balance for the HUBO. Then

using Simulink

the balance control performance is verified via simulations. Finally

the system parameters are analyzed through the simulation results to guarantee a better performance for gait balance control.