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Presents an experimental approach to the problem of designing and optimizing walking gaits on a biped robot. The desired movements are designed off-line using a model of the robot and tracked on the real system by means of a simple control law. Because biped robot has more than twenty freedoms, it is difficult to coordinate the relationship between dynamic walking and the freedoms of biped robot. Giving some constraints on the gait in designing body kinematical trajectory, then using the step length, the average velocity, stature, arm waves, kinematical trajectory of the body and step height of freedom leg to simply model biped robot. Above parameters can makeup almost countless gait form. Introduce a step strategy concept of biped walking robot that is stabilized by using reaction null-space method. Several results validate the accuracy of our model and exhibit the robustness and the efficiency of our controller system.