Abstract: At first,the paper pointed out that controller of biped robots with 24 degrees of freedom is core of the biped robots and also is the part needed to be improved firstly when expanding functions of the biped(robots,) then introduced the improved design of hardware and software of controller of the biped robots. The paper described the control of behavior posture and biped gait of the biped robots and its plan in details comparatively, and pointed out the next research direction is how to control the biped robots walk in complicated condition and on unshaped ground surface steadily and lustily.