The main focus of Dynamics and Control department in SURENA III project is on the locomotion planning, kinematics and dynamics analyses of the gaits, and low-level control as well as online modification of the generated walking patterns. Being in a close relationship with other departments, the activities of this group may be considered as the project core, where these activities should bring a harmony between other teams. This statement may be demonstrated by reviewing the various project phases, from the beginning when this team was in close collaboration with mechanical design and fabrication as well as electronic departments for hardware selection, to the final stage where participation with intelligence department introduces the robot as an autonomous walker. The main advancements that have been achieved by dynamic and control department activities are walking on the terrains with various surface characteristics, stair and slope ascending and descending, online adaptation for walking on obstacles with unknown heights, grasping and manipulating the objects, and performing some exhibitive gestures. This department has welcomed 12 members during its past three years’ activity.