The objective of this thesis is to show the differences between a walking pattern of a humanoid robot and a future exoskeleton. First of all, a deep analysis of autonomous bipeds has been conducted, underlining many differences between them and a proper human walking. The two main differences are: the hypothesis of flat foot during gait-cycle with respect to the floor; and the modelling of the foot as a whole body (not divided in foot and toes). Starting from the second part of the thesis, there was the need of developing a humanoid model. In order to find an approximation of the human body, a biped model was created.