This paper deals with implementation of a distributed controller for a humanoid robot. This teen sized humanoid robot Archie is currently under development. The main idea is to develop a cost oriented humanoid robot (COHR) to assist humans for their daily life. After a short description of the existing hardware, the control is described. The control is realized by a PI controller for position and velocity of each joint of humanoid robot in specific time order. The main advantage of this method is to synchronize the motion of alljoints necessary for biped walking motion. The developed controller program was first tested by simulation and implemented on the robot. The results on the real robot show the efficiency of this method for the gait motion of the robot. Finally an outlook on further work is given.