According to the human body structure,a small steering gear driven biped robot was designed.The position-time functions of the ankle joint and hip joint were planned and calculated by using the method of fifth-order polynomial interpolation.The angular-time functions of each joint were obtained by an algebraic analysis of the joints trajectory.Using the straight gait parallel programming strategy of the biped robot,the joint angle-time functions were imported into the ADAMS virtual prototype and the actual physical prototype respectively in oder to test the planned gait data.By experimental verification,it is shown that the straightforward motion simulated gait of the physical prototype and the straight walk of the virtual prototype can be compared in parallel.