Abstract: This paper presents a control method which is based on master-slave control to realize dynamic locomotionof biped robot.The computational load of this method is low so that it can plan walking patterns on-line andaccomplish smooth dynamic switching in double-support phase.Simulation and experiment results show thatthe method is effective and practical.To realize dynamic locomotion with changing walking patterns.The ap-paratus used in the experiment is a HITR-13 biped robot with 12 DOFs.The experiment results also showthat the method can make biped robot to be well adaptive to environments.