Abstract: First,the control system architecture of obstacle avoidance and the basic walking gait algorithms are presented.Then,the path planning strategies are put forward,consisting of the global navigation strategy,which is applied in the beginning of obstacle avoidance,and local navigation strategy which is used while crossing among obstacles.Finally,through analyzing the experimental data,such as infrared sensor range finding as well as local navigation,it is concluded that the strategies are able to satisfy the rules of the FIRA game.