This book presents a practical approach to teach the biped humanoid robot to ambulate through human imitation. For this purpose, a human body motion capturing system is developed using tri-axis accelerometers (attached to human legs and torso). The tilt angle patterns information from the human is transformed and estimated to control and teach various ambulatory skills for humanoid robot bipedalism. Lyapunov stability based model reference adaptive controller (MRAC) technique is implemented to address the poorly known actuator dynamic characteristics and unpredictable variations of the biped system. Simulation and experimental results are presented to verify the control scheme of the biped robot mimicking human gait.