Abstract: A space parallel mechanism with two degrees of freedom is designed for biped robot HEUBR 1 by simulating the driving manner of human muscle.The proposed mechanism is applied to the lower limb joints of biped robot HEUBR 1, and a new kind of hybrid serial-parallel humanoid lower limb is realized.With toe joints added to the feet of HEUBR 1, the robot can simulate walking manner of human and realize the real humanoid gait walking.The key technologies of stable humanoid walking for biped robot HEUBR 1 are expatiated,comprehensive stability criterion is presented,and various kinds of humanoid gaits are analyzed.The experimental analysis on humanoid gait show that the humanoid structural design is reasonable and the humanoid gait analysis is correct in biped robot HEUBR 1's hybrid serial-parallel design.