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Abstract:The paper addresses the problem to vehicle speed calculation at road accidents. To determine the speed are used the PC Crash software and Virtual Crash. With both methods are analysed concrete cases of road accidents. Calculation methods and comparing results are present for analyse. These methods consider several factors such are: the front part of the vehicle, the technical feature of the vehicle, car angle, remote relocation after the crash, road conditions etc. Expected results with PC Crash software and Virtual Crash are shown in tabular graphics and compared in mathematical methods.

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This paper focuses on the walking improvement of a biped robot. The zero-moment point (ZMP) method is used to stabilise the walking process of robot. The kinematic model of the humanoid robot is based on Denavit- Hartenberg’s (D-H) method, as presented in this paper. This work deals with the stability analysis of a two-legged robot during double and single foot walking. It seems more difficult to analyse the dynamic behaviour of a walking robot due to its mathematical complexity. In this context most humanoid robots are based on the control model. This method needs to design not only a model of the robot itself but also the surrounding environment. In this paper, a kinematic simulation of the robotic system is performed in MATLAB. Driving torque of the left and right ankle is calculated based on the trajectory of joint angle, the same as angular velocity and angular acceleration. During this process an elmo motion controller is used for all joints. The validity of the dynamic model is tested by comparing obtained results with the simulation results.

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