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Control algorithms development for humanoid locomotion is difficult due to humanoid's high number of Degrees of Freedom and system nonlinearity. Moreover, a humanoid may lose balance as its walking speed changes. We present AR-601M humanoid locomotion modelling with virtual height inverted pendulum and preview control approaches. A step length and period influence on walking stability were investigated and simulated within Simulink environment. Achievable in simulation maximal torques in leg joints and corresponding trajectories were verified against attainable robot motors' values.

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