Taking as a reference the open source 3D printed robot called ''Poppy'' (https://www.poppy-project.org/) this project aims to develop a new biped robot platform using standard size servomotors. To accomplish this project is required to design a new structure to be able to host the chosen motors and also add a new degree of freedom for each leg, in order to obtain a 12 DoF robot. The next objetive is the modelling and simulation. For that purpose Gazebo simulator will be used to provide the option to be controlled with ROS. In addition various sensors will be added to the model, in order to obtain the feedback necessary for the control algorithm, which is the last objetive of this project.