  In this chapter we will highlight our experimental studies on natural human
walking analysis and introduce a biologically inspired design for simple
bipedal locomotion system of humanoid robots. Inspiration comes directly from
human walking analysis and human muscles mechanism and control. A hybrid
algorithm for walking gaits generation is then proposed as an innovative
alternative to classically used kinematics and dynamic equations solving, the
gaits include knee, ankle and hip trajectories. The proposed algorithm is an
intelligent evolutionary based on particle swarm optimization paradigm. This
proposal can be used for small size humanoid robots, with a knee an ankle and a
hip and at least six Degrees of Freedom (DOF).
