This paper seeks to define the anthropomorphic walking motion for the humanoid robot Romeo. The main characteristics of the lower and upper limb motions of the human being during walking are adapted to Romeo taking into account its kinematics and its motor power. The proposed walking includes starting, periodic and stopping motions. A boundary value problem is stated and solved to define each of these three movements, which are composed of single and double support phases. The trajectory of the zero moment point (ZM P) is explicitly defined as a function of time. Thanks to the Essential model, the two horizontal coordinates of the center of mass (CoM) are adapted to the desired ZM P trajectory and joint movements of Romeo. Numerical results show the efficiency of our strategy to design human-like walking for Romeo.