Information Technology Journal1812-56381812-5646Asian Network for Scientific Information10.3923/itj.2011.2232.2236ZhangqiWang XiaoguangZhu QingyaoHan 1120111011Present study is combining the legs’ architecture characteristics of human beings to build the lower limbs mathematical model with 12 degree of freedom. Describe space relations among each joint and integrate ZMP (Zero Moment Point) as the movement stability criterion. Moreover, do the single analysis of mathematic model, discuss and solve the inverse of motion matrix in details then to work out angle speed relation among each leg joint of the robot. Take the advantage of ADAMS (Automatic Dynamic Analysis of Mechanical Systems) to stimulate dimensional virtual prototype. The stimulation can successfully achieving the stability of biped robot movement without sideslip and moves forward a single step to prove the exactness and rationality of mathematic model.]]>Tao, X., X. Jianfeng, Z. Yongxue and Z. Wenyi,2002Zou, Z., H. Qiang, L. Guangri, Z. Yucan and Z. Weimn,2007Chevallereau, C., D. Djoudi, J.W. Grizzle,2008Zhijiang, D., Z. Bo, S. Lining and D. Wei,2007Hidezi, K.,2007Nishiwaki, K., S. Kagami, Y. Kuniyoshi, M. Inaba and H. Inoue,2002