This study presents the design and performance evaluation of an adaptive control system for a biped robot with five degrees of freedom. The primary goal is to achieve stable and accurate control despite uncertainties in the robot’s dynamic parameters and changes in environmental conditions. By analyzing the robot’s dynamic structure, an adaptive control strategy is developed, and its effectiveness is assessed through simulations. The results indicate that the proposed approach delivers superior performance. In particular, the system’s ability to update dynamic parameters in real time significantly reduces tracking errors and ensures the robot’s stability under uncertain conditions. Based on a passivity-based control framework commonly referenced in the literature, the adaptive controller enables precise tracking of desired reference signals, even in complex dynamic environments. Overall, the findings demonstrate that adaptive control is a highly effective solution, especially for complex systems such as biped robots.