  In this paper the design of a control system for a biped robot is described.
Control is specified for a walk cycle of the robot. The implementation of the
control system was done on Matlab Simulink. In this paper a hierarchical fuzzy
logic controller (HFLC) is proposed to control a planar biped walk. The HFLC
design is bio-inspired from human locomotion system. The proposed method is
applied to control five links planar biped into free area and without
obstacles.
