The biped walking machine developed at DLR is based on the reliable technology of the torque controlled DLR lightweight arms. Based on the modular drive technology with integrated joint sensing and electronics, the design of a biped experimental system was possible with a minimum development time of about 10 month. The developed system utilizes link side joint torque sensors in combination with electrical actuators and harmonic drive gears. In addition to position and force controlled approaches, this system therefore allows for a detailed study of joint torque based control concepts for biped balancing and walking. In particular, the applicability of compliant impedance control, as developed for manipulation tasks with the DLR lightweight arms, to biped locomotion shall be analyzed.