Humanoid robotics hardware and control techniques have advanced rapidly during the last years. In order to improve the autonomy and overall functionality of these robots, reliable sensors and general integrated software tools and techniques are needed. It is easier for bipedal robots to exist in a human oriented environment than for other types of robots. For a biped robot to achieve dynamic balance while walking, practical motion planning algorithms with obstacle avoidance and dynamic gait algoitms must be developed. A biped robot also requires a control system to ensure the stability of the robot while walking.