Abstract
This paper describes the development of auxiliary mechanism for a humanoid robot. The auxiliary mechanism is shaped like a stick, that connected to the robot's wrist. This robot can be static walking by using the auxiliary mechanism. We are considered the robot can walk more stably by using the auxiliary mechanism. We have to verify the validity of the auxiliary mechanism, we performed a simulation using the ODE (open dynamics engine). We calculated stability margin using the data obtained by the simulation. Finally, We have evaluated the effectiveness of auxiliary mechanism using the stability margin obtained by calculation.
