This thesis proposes an implementation of humanoid robot based on Robot Operating System (ROS). The system architecture of ROS is a distributed system. The ROS uses peer-to-peer network to link all processes to exchange data. In the Linux environment, the humanoid robot system is built to develop the software system through ROS which combines with embedded system SoC FPGA and achieve hardware and software co-design. This thesis proposes speed planning of humanoid robot. The waist of humanoid robot to be the Center of Mass (CoM). According to speed planning of CoM to produce the walking trajectory of biped. And then motor angle is obtained by kinematics module to make humanoid robot to walk. Because of gears backlash, uneven floor, and mechanism weight, it made humanoid robot unstable or even fall while walking. Therefore, the system uses Kalman filter that combine gyro sensor with acceleration sensor to estimate the slope angle of upper body. Then posture controller is used to determine an angle compensation to make humanoid robot walk stable. Finally, this thesis combines reality humanoid robot and simulator Gazebo to achieve Cyber-Physical System (CPS).