Human like Walking Robot

I'm trying to create a walking human in simulink. I generate sphere to plane contact force between leg and plane but, when I start simulation my robot fall down while walking. So, Please give appropriate suggestion.

[Aditya Patil]

Can you kindly provide more details regarding the issue?

[Rajan Suthar]

Here, i attach my simulink block diagram and script file, i take joint angles from standard human gait data.