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In this paper, an observer-based indirect adaptive fuzzy output feedback control scheme is proposed for a biped robotic system. Fuzzy logic systems are employed to approximate the biped unknown nonlinear functions. Based on the fuzzy system, a state observer is designed for estimating the states of the controlled system. In addition, we use a regularized inverse function to overcome the control singularity problem. Based on Lyapunov stability analysis, convergence of the system states and boundedness of tracking errors can be achieved by the proposed control scheme. The experiment results are used to demonstrate the effectiveness and robustness of the proposed control scheme, and the tracking performance.