Abstract This paper is a presentation of a work that consists to model a biped robot walk in simulation. The specific objective is to develop a strategy based on an evolutionary method. The chosen architecture to represent the biped includes ten degrees of freedom on ten articulations between seven links. This evolutionary method is a generation of articulation angles using a particle swarm optimization (PSO). This work invokes also the direct kinematic principle. The PSO guarantees the stability of the biped by using a constraint on the center of mass (CoM) and the polygon of support. Results show that this method is tempting for a high level development.