Locomotion of a robot has been achieved with many possible solutions like legged or wheeled type. But the optimum linkage mechanism for a biped robot is yet to be specified for the purpose of walking. In this paper, different types of linkages depending upon their degree of freedom (DOF) have been compared and the best of them have been selected with help of ADMAS software. The biped mechanism consists of only two legs that are connected at the hip joint and are used for the locomotion of the robot/humanoid. This mechanism is selected based on parameters which are force developed in joints, trajectory of centre of mass (COM) of links and kinetic energy attained by all the links. © 2014 The Authors.