The goal of this study is to model human body correctly, according to the principles and the standards
used to calculate the humanoid parameters. The model is built by using VN software and then it was
implemented in Matlab Simulink, in order to bu
ild a control system for simulating the humanoid balance
during standing. Precise and robust balance was reached by using PID controller with parameters
optimized by using genetic algorithm (GA). The control performance was tested by applying external
disturbance to the humanoid, the results show that the humanoid can retrieve its balance effectively.
