Abstract: An improved inverse kinematics control scheme for biped robot is presented to solve the problems of the Jacobian matrix singularity and fixed-parameters in the numerical solution.The Jacobian inversion is replaced with the approximate solution of differential motion equation.Combined with the adaptive fuzzy control to reduce the tracking error,it can regulate adaptive parameters in order to arbitrarily approach the exact solution by approximate solution.An extremely accurate and strong robust fuzzy adaptive algorithm can be obtained.Results of simulation on a biped robot show the effectiveness of the scheme.The total computation time of the presented algorithm is about 0.35 ms,so it can satisfy the requirements of real-time control of the actual biped robot.