Bipedal locomotion is still an open area of research. Despite the great progress in recent years, the locomotion capabilities and energy consumption of a human-sized biped are still not comparable to human walking and running. Due to the drawbacks of conventional control approaches, as well as the challenging design of mechatronics, researchers have studied the biological and biomechanical aspects of human locomotion. From these, valuable insights can be derived for human-like bipedal locomotion. Among them is Bio-Inspired Behavior-Based Bipedal Locomotion Control (B4LC), developed by the Robotics Research Lab (RRLab) at the University of Kaiserslautern. The concept attempts to transfer the human locomotion-derived principle of combining a fixed number of synergies and reflexes for different walking phases. Another focus of the presentation is the mechanical design of a serial elastic actuator, which has similar characteristics to a human muscle. Comparable to a human leg, the mechanical concept of the RRLab biped includes mono- and biarticular muscle-like actuation. The advantages of the biarticular muscle concept for bipedal locomotion and how the concept can be implemented are discussed. Experiments in simulation as well as on a planar biped are used to demonstrate the performance of human-like bipedal locomotion.