Although the concept of humanoid robots was formed from very long time ago but they just really performed and has been ameliorated time by time to get better performance by advanced countries from the haft end of the previous century… One of the indispensable question of humanoid robot is performing the process of stepping in keeping balance of the body on his two legs. In this paper we concentrate to study on the combination of movements of limbs of our biped robot model in order to keep the balance when standing and simple stepping in natural gait, on straight line of horizontal floor with no obstacles. All of the above questions seem to be normal and simple for a man because he already experiences in lying on back, rolling over, crawling, standing and stepping… from a newborn to a child. However, this is really a great challenge for manufacturing and controlling a biped robot when we could not understand the principle of human stepping. Focusing on the principle of natural human stepping and carrying out the principle of moving common center of gravity of robot by controlling the movement of limbs in keeping the balance the robot body by a design of the control of a counterweight that is illustrated also in this research.