Main problem of humanoid locomotion is walking stability. Goal of this research is designing and standardize the stability of robot. Commonly, research of humanoid robot uses the method of static walking or dynamic walking for its stability. The usage of static walking on robots emphasize on stability pose while dynamic walking emphasizes on its mobility efficiency. The combination of both walking methods can achieve a stable and efficient humanoid robot movement, in which applies the rule of Zero Moment Point and Inverse Kinematic. Optimize centre of mass from humanoid robot with selection of combination material. This research will be done by simulation and real examiner to get a stability margin and also velocity of robot to ensure a quick and easy robot motion planning. The result of humanoid robot stability margin is 3.44 mm and its velocity 8.11cm/s.