The objective of this thesis is to plan the static walking for a biped robot. The robot has ten joints. In static walking, the stability of a biped robot depends on its CoG (Center of Gravity). It will be stable if CoG of a biped robot falls in the certain region. Then, we limit the operation angles of ten joints according to the joints of a human foot. The robot’s static walking is planned by specifying trajectories of the hip and feet through relevant theories and inverse kinematics. Finally, the trajectory of its CoG is obtained from calculations of mathematical equations. Walking analysis of biped robots includes advancing, going upstairs and going downstairs. It produces different orbits in response to different walking patterns. In conclusion, we utilized the CoG orbit to analyze and discuss the differences of walking patterns of biped robots. For the entire study, we have successfully developed the relevant information and research data of biped robots.