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A learning mechanism based on Powell's optimization algorithm is proposed to optimize walking behavior of a passivity based biped robot. To this end, a passivity-based biped robot has been simulated in MSC ADAMS and a control policy inspired from humanoid walking is adopted for a stable walking of the robot. Linear controllers try to control the joints of robot in each walking phase to implement the gait proposed by the control policy. Learning is employed using Powell's optimization algorithm to adjust the control parameters so that the robot enters to an optimum limit cycle in a finite time. The fitness function is defined to evaluate the robot's optimum behavior. The results are verified by simulations in SIMULINK+ADAMS.