Abstract: In this paper,a biped robot imitating human walking is introduced with joints of slide-followermechanisms. The Biped robot has 12 degrees of freedom.It's power sources are 12 servomotors with rotaryencoders for oneself. The artificial attitude sensors and foot-force sensors are installed on the body and feet ofthe biped robot. The walking of the biped robot can be controlled by a computer system.