In this paper, we perform a comparison between classical PI+D control strategies with a fuzzy modified PI+D control. The fuzzy PI+D controller is a discrete-time version of the conventional PI+D controller, which has constant coefficients of self-tuned control gains. The proposed control strategies were tested using a mathematical model based on a bipedal platform robot called DARwIn-OP. A mathematical model was developed to emulate robot behavior and dynamical performance. It is a linear model based on non linear conditions. The main improvement of the fuzzy controller is its adaptive control capability, mainly error acquisition under disturbance situations. Computer simulations are shown to demonstrate fuzzy modified controller improvements over the classic PI+D controller applied on mathematical robot model.