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The biped robot walk is a process of alternation between single leg support and double legs support, and as long as the corresponding control strategies are always changed, namely optimum control, it can walk steadily and naturally, and hence it is quite hard to control. And then a biped robot control system is designed to improve the deficiencies of the existing control system. It consists of a PC and a MCU and communicates each other by high-speed data USB. The PC is responsible for system monitoring and coordinated control; and the MCU adopts STM32 to carry out data acquisition of three legs joint of biped robot, logical operation of gait planning and data transmission of corresponding movement state. The test shows that it is accurately that the real-time data can be derived from corresponding transducers of control system with some disturbances considered, and it can control the biped robot walk better.