his paper describes research to generate an application where human bipedal gait displayed, using the Modelica 2.1.2 ® software and tools for visualization in 3 dimensions. This provides a physical- mathematical model which is configured own systems and software subsystems. For the simulation, we took into account the basic operation of the walk that makes a biped robot theory and their respective direct and inverse kinematics as well as the actions of proportional-derivative control (PD), proportional-integral (PI) and proportional-integral-derivative (PID) closed loop tuning and specifications for adjusting the angle of the leg joints and maintain a level ground on which to perform the displacement of the object, the product is expected to serve as based educational program developed based on, for the design and implementation of advanced devices : whether robots that emulate the human gait, for entertainment and even virtual reality for human use, or to create a prosthesis control that allows a disabled person have the ability to walk.