dynamics allow us to develop simple and efficient control systems, based on the system dynamics and not on assumptions of a simplified model, such as the inverted pendulum, which provides valid results in simulation, but validation is difficult because of the challenge represented by the measure of position, speed or acceleration of the centre of mass in a real robotic mechanism.Change actuator power Scale definition Walking pattern (Passive walking model) Generation of an initial mechanical design Actuator selection Estimation of physical characteristics of the robot Evaluation of dynamic behavior of the robot (Active walking model) Construction and control of the robot Satisfactory behavior? NO YES How to referenceIn order to correctly reference this scholarly work, feel free