Acevedo, MarioMarioAcevedoPonce, HiramHiramPonce2023-07-212023-07-212020https://scripta.up.edu.mx/handle/20.500.12552/416110.1016/B978-0-12-815659-9.00003-2Multibody dynamics has been a fundamental tool for modeling, simulation and design of human-like locomotion systems. Either in the prosthetic and orthotics sector to develop devices for improvement or restoration of mobility, or as in the simulation, design, and optimization of humanoid robots. A lot of research and development has been done in these challenging areas where new mechanisms and improvements in dynamics are always welcome. The dynamic balancing of mechanisms (force and moment balancing at the fixed base) is an area that, along with multibody dynamics, can help to improve the design of human-like locomotion systems. In this chapter, the application of a force-balanced mechanism is proposed as a leg to be part of a biped robot. Stability is analyzed through the application of learning approaches based on an artificial intelligence, namely artificial hydrocarbon networks. Modeling and results from multibody dynamics simulation are presented. © 2020 Elsevier Inc. All rights reserved.enArtificial hydrocarbon networksControl systemsEquilibriumHuman-like locomotionMultibody dynamicsReinforcement learningResource Types::text::book::book part