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