The main way of displacement of a humanoid robot is by walking, humanoid robots have a basic architecture of 22 DOF which are the minimum necessary to replicate human movements. A motion capture system stores the information of a human being from static points in a human body, the data used will be cycles of gait of a human being. The proposed technique transforms the data of a capture system and transforms them into angles in an architecture of a humanoid robot of 22 DOF. For this purpose it uses key points of a capture system and makes a mapping from the torso to then proceed with its upper and lower limbs. Tests were performed on an author's own simulator and also on the V-REP simulator using the architecture of the Poopy robot. The results show a visually imperceptibly mathematical error in the simulator, but numerically measurable, that lies in the elimination of an axial axis located at the waist. Tests were performed with the data of a woman, a man and a child, being the woman who has the greatest error for having a more pronounced hip movement in the gait. This proposed research opens the door for future research that requires a mapping of a capture system to be replicated in a humanoid robot of 22 DOF, being its use very versatile and expandable to dynamic solutions of balance and tightness. © 2018 IEEE.