This work deals with the new trends of robotics platforms, it is the biped robots. The objective of this work is to develop a humanoid robot and study the walking locomotion in order to integrate it in unstructured terrain which could cooperate with a human. The main contribution of this work is to propose a new design methods, control architecture and walking pattern generation for a biped robot. Design methods were based in anthropomorphic human proportions about 1.20 and defined walking motion of the humanoid robot. The control architecture provides the following of walking patterns in order to get stable walking, so it is based on two layers: Joint control, Posture control, which allows to humanoid stable walking. The walking pattern generation is the reference of the control system and allows decide the robot motion on each time, it is composed by several layers: Global motion, local motion, trajectory generation, kinematics and dynamics model. In order to validate the proposed walking and control algorithms on the humanoid robot Rh-1, developed in the Robotics lab of the University Carlos III of Madrid, experimental results will be shown and discussed.