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An introductory course for humanoid robot motion realization for undergraduate and graduate students is presented in this study. The basic operations of AX-12 motors and the mechanics combination of a 16 degrees-of-freedom (DOF) humanoid robot are presented first. The main concepts of multilink systems, zero moment point (ZMP), and feedback control are then introduced such that the students can understand the relationship between the ZMP position and the stability of the robot. Finally, the students can simulate the desired motion trajectory and realize the motion practically on the real humanoid robot. Taking this course, the students can not only learn robotic theories and control techniques for humanoid robot motion, but can also enhance their experience in hands-on experiments in executing the motion of a humanoid robot. The proposed educational strategy will enable students to progress easily to more advanced work on robot design and control in their future study or careers.