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Human walk is the combination of seven different discrete subphases. It is difficult to express the one gait cycle as a whole. To develop the human like bipedal robot, the walk cycle is divided into seven discrete subphases. Each subphases has its own continuous dynamics. To express this discrete behavior for the development of the more accurate bipedal robot, the hybrid automata are proposed. The bipedal walk is configured as the rocking block model. It is the first attempt to express the bipedal walk as a rocking block. During double support phases, it is configured as a vertical rectangular plane, and during the left and right leg swing, it is configured as the tilt of the rectangular rocking block in the left and right direction. In this paper, we have configured the bipedal robot as the rocking block before and after impact. The novelty of work is the configuration of bipedal walk as the rocking block and the development of …