Abstract: A design method of biped walking actions of humanoid robot based on the movement similarity of human body is proposed.The system of parameter acquiring and similarity matching for human walking trajectory is improved,and the application range of similarity function is extended.The key postures and the sub-stage transformations during biped walking period are defined through the characteristics of mechanic chains of the humanoid robot,the constraint equations of movements are built,and the corresponding problems in the dynamic stabilization when walking are also restricted.The validity of this method is confirmed by simulation and actual robot experiment.