This work effort, aims to develop the biped humanoid robot Archie, and present a simple but reliable motion creating system for stable bipedal walking. This new system for robot included developing the hardware structure (i.e., new frontal ankle joints, new brushless motors, new timing belts, USB to CAN converter, new power supply and new foot plates), designing a distributed communication network, new motion controller program with new graphical user interface and software implementation approaches to perform the stable walking. Although various humanoid robots have successfully demonstrated their capabilities, but stable bipedal walking methods are still one of the main technical challenges that robotics researchers are attempting to solve it. If we consider this problem from a different standpoint, the development of a biped humanoid robot can be simplified as long as the bipedal walking method is easily formulated. Therefore, this thesis focuses on design and implementation of a motion control system based on the Position-Time (PT) mode and formulating the constraints of the hip and foot motion parameters. In this method the PT data pulled from its source table into the buffer, therefore drive gets the PT position points and transmitted data according to the designed CAN (Control Area Network) format massage. On the other hand, the motor drive interpolates the motion specification in order to calculate the desired position and speed at the sampling instances, when it needs the information. In PT motion method the drive manages a read pointer for the position points vectors (QP[N]), when the read pointer is N, the active motion segment starts at position QP[N] and ends at QP[N+1], and after control sampling times (MP), the drive increments the read pointer to N+1, and reads QP[N+2] to calculate the parameters of the next motion segment. PT data transferred to motor drive online, by using the designed distributed CAN communication network. Therefore in the proposed system by varying the values of the constraints of the hip and foot motion parameters (Xsd, Xed: distances along the x-axis from the hip to ankle of support foot at the start and end of single-support phase respectively) we can achieve different types of foot motion to adapt the ground conditions and run the stable walking. To validate the designed system, forward stable walking test performed on an ordinary room floor based on the obtained optimised values of the walking pattern (max. step height=12cm, max. step length=50cm, min. hip height=54cm, max. hip height=57cm). Finally Archie could walk forward for 10 meters and keeping balance along the entire sequence with the speed of 0.08 km/h.