This paper presents analysis of biped locomotion based on human’s walking characteristics to improve walking speed in humanoid robotics. The analysis is focus on improvement of walking speed without changing reduction-ratio at the robot’s joint-motor system. Three parameters are considered: step length, hip-joint height and duty-ratio. We use humanoid robot Bonten-Maru II as an analysis platform. Analysis based on simulations and experiments are conducted. In addition, formulations to define efficient gait pattern are also presented. The simulation analysis and experimental results with Bonten-Maru II reveals good performance in biped locomotion to improve walking speed and travel distance of the humanoid robot without changing reduction-ratio at joint-motor system.