This paper deals about the dynamic gait patterns generation of humanoid robot Rh-1 and its stability control, developed in Robotics Lab of University Carlos III of Madrid. The Three dimensional Linear Inverted Pendulum Mode (3DLIPM) had been used in order to get natural and dynamic biped walking. Humanoid dynamics is widely simplified by concentrating its mass on COG, and moving it following 3DLIPM laws. Motion laws of 3D-LIPM will be developed and discussed.