In this paper, we design and implement the biped robot which is able to walk like human. Biped robots have better mobility than conventional wheeled robots, but they tip over easily. Therefore, stable walking is important for a biped robot. For smooth walking of a biped robot, we generate a foot trajectory and a hip trajectory by 3rd order spline interpolation. And we derive the hip trajectory with high stability by fitting a ZMP(Zero Moment Point) trajectory of a biped robot to the target ZMP trajectory. By these trajectories, we developed the biped robot which can walk stably forward and backward, and can turn in any direction. And we experiment on various biped walking adjusting parameters.
