The mechanism of a 43 DOF biped humanoid robot WABIAN-RII was described to simulate human motions was described. For the humanoid robot to walk stably on various terrains, its functions should be separated. Its waist and trunk carries out the function of stability, while its legs work out the function of the locomotion. A locomotion pattern generation was discussed which used a polynomial. In the pattern generation, the direction of the walking and the length of the step can be determined by visual and auditory information. Also, a moment compensation control was presented to balance its body, which was based on the motion of the waist and trunk. In addition, an impedance control method was discussed to absorb the impact/contact forces generated between the landing foot and the ground, which can adjust the impedance parameters to make relaxed and hardened motions like a human. The experimental results show that the impedance and the moment compensation control are effective for the sock absorption and stability. However, for a more reliable locomotion, biped humanoid robots must be able to adjust the time of the locomotion. If the walking time is suddenly changed, unnecessary acceleration is able to occur, and the errors of the ZMP can be increased. To solve these problems, a new control method will be introduced which uses the motion of the upper-limbs, and the impedance control should be considered in all the joints. Especially, the moment of the yaw should be compensated to deal with high speed walking.