A biped robot based its mobility imitating human movements; this development is focused on the movement of the lower limbs. The mobility of the robot is made by servomotors; because they work in a very similar way as the joints of the human’s lower limbs but with some restrictions. The logic of this system was coded on VHDL language to be implemented in a FPGA. The reason for using this hardware; is because it had fast reaction speed, its implementation is friendly and versatile also is able to handle multiple processes in parallel. This paper describes the servo characteristics and how it was used to through an FPGA make possible move a robot who imitates the human movements in the sagittal plane, also show the mechanical design. Shows that the FPGA is better suited in this case than a micro controller to follow multiple paths at the same time.