The invention discloses a walking posture control method of a humanoid biped robot based on a genetic algorithm. A mathematical model of a biped robot is established based on the ZMP control theory and a pose matrix, and the basic gait of a human is simulated. V, height H, arm swing R, body center up and down swing C, body center left and right swing A These six parameters plan the robot's gait, and select optimized T, V, H, R through genetic algorithm The six parameters of , C, and A are brought into the inverse operation of the pose matrix to obtain the values of other joint coordinates of the robot, and solve the method of generating data that stably controls the gait of the robot. It overcomes the problem of large amount of calculation and low efficiency in inverse operation of pose matrix, improves the real-time response ability of the system, and uses the data generated by this method in the humanoid biped robot system to achieve a good control effect.