A novel procedure for designing an interconnection and damping assignment passivity-based control to perform different walking gaits of a compass-like biped robot is presented. The interconnection and damping assignment passivity-based control method is often used to achieve asymptotic stability of the closed-loop desired equilibrium point in underactuated systems. Nevertheless, in this article, for the first time, this method is used to shape the kinetic energy of the robot and thus perform different gaits by modifying its limit cycle. One degree of underactuation of the compass-like biped robot is considered, and a suitable change of coordinates is made in order to design the proposed control law. The effectiveness of this controller and some advantages with respect to another similar approach are shown through a deep numerical simulation study.