The invention discloses a biped robot capable of walking rapidly. The biped robot is composed of a servo motor, a motor support, a driving bevel gear, driven bevel gears, check pawls, ratchet wheel cam sets, ratchet wheel connecting pins, a driving pawl, oscillating bars, roller connecting pins, rollers, shanks, compression springs, screws, thighs and feet. The servo motor drives the driving bevel gear to rotate so as to drive the symmetrically-arranged driven bevel gears to rotate oppositely and the thighs to swing forwards and backwards; the shanks always make contact with cams in the ratchet wheel cam sets through the compression springs and supporting legs are longer than swinging legs through telescopic motion of the shanks. Compared with the prior art, the biped robot has the advantages that the robot can be driven by one servo motor, so that the robot is convenient to control and high in control accuracy; except for the servo motor, other structures of the robot are all mechanical structures, so that motion cooperation is convenient; the structure is simple, machining and installation are convenient, and the robot can walk rapidly.