This article presents a control algorithm framework with which a bipedal robot can perform a variety of gaits by only modifying a small set of control parameters. The controller drives a number of variables, called non-emergent variables, to their desired trajectories resulting in a desired emergent walking gait. While the non-emergent variables remain the same independent of the gait, their desired trajectories are functions of a small set of control parameters that change as a function of the desired gait. This control algorithm has been tested on the humanoid robot COMAN, where different gaits including standing balance, stepping in place, periodic walking gaits with different velocities, as well as gait switching are demonstrated in experiments.