Anan Sittitanasut creator Manukid Parnichkun Chairperson Naber, Helmut Examination committee Bohez, Erik L.J. Examination Committee text series technical report th Bangkok Asian Institute of Technology 1999 continuing eng 63 p.: ill. This thesis is to develop a balancing controlled biped robot. The development started with a new biped robot prototype design. It was mechanically and electrically design. The mechanical design composes of prototype of biped robot, transmission, kinematics analysis and balancing design. The Biped robots are using a different walking mechanism and a new balance designed. The Bipedal locomotion is achieved using a static equilibrium to emulate the human walking gait. The electrical design includes control system design and control algorithm. The control algorithm was separately developed on the basis of the human walking gait. The control algorithm was developed only for the forward walking motion. I'm using the Z-80 embedded controller on these at the moment. There are 24-bits output. I used 3-bits output for control a stepper motor (step clock, direction and disable/enable). A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies Thesis (M.Eng.) - Asian Institute of Technology Mobile robots Asian Institute of Technology. http://203.159.5.9/ait-thesis/detail.php?q=B12318 http://203.159.5.9/ait-thesis/detail.php?q=B12318 240400 20260818090618.0