Motion imitation techniques offer a promising approach to the bipedal locomotion problem by leveraging human expertise. This survey provides an overview of the diverse methods employed for this task and introduces two taxonomies. The first one is based on motion transfer approaches for mapping expert motions to the learner, and the second one is based on the techniques utilized for ensuring robot stability. Furthermore, we include a comprehensive summary table that categorizes some relevant works on whole-body imitation and highlights their contributions and limitations. Our review aims to present a roadmap for future research in bipedal locomotion for aiding the advancement of more stable and efficient humanoid robots.