In this work, the proposed controller utilizes a hierarchical control approach. The high-level controller uses a low-dimensional template models such as Linear Inverted Pendulum Model to determine key variables needed for balance such as foot placement, timing, center of mass evolution, upper body states evolution to prevent falls while maintaining the desired velocity. A Task Space Controller (TSC) then tracks the desired motion obtained from the high-level controller, exploiting the whole- body dynamics of the humanoid