Another type of legged robots is a bipedal walking robot or humanoid robot, which can be designed to implement various functions as necessary and mimic like a human. Often, balance while moving and when the first leg in the swing process and the second leg on the ground is difficult than most other kinds of robots. Two bipedal robot prototypes are designed with 10 degrees of freedom and 17 degrees of freedom to fulfill a gait cycle. The robot's locomotion can also be controlled via two types of microcontrollers, Arduino microcontroller and LOBOT LSC-32 driver. So, the KHR-2HV simulation model by Webots is used to simulate the experimental results of the bipedal robots. The results showed that the cubic polynomial foot trajectory for 10 degrees of freedom and 17 degrees of freedom bipedal robots are (= 4 × 10 −16 3 − 0.0433 2 + 0.4329 + 0.7619 with regression 0.9276) and (= −0.000074 3 − 0.13 2 + 0.671 + 1.1326 with regression 0.939) respectively. After several methods for programming, the bipedal robot by LOBOT LSC-32 driver model is the better than Arduino with PCA 96685 driver-16 channel servo driver. Experimental results carried out during the KHR-2HV simulation model by Webots program. This model gives a better estimation and a fast response to confirm the stability of the10 degrees of freedom and 17 degrees of freedom bipedal robots.