For satisfying the robot wide application need, design the 16 DOF biped vision robot. According to bionics principle, ascertain the robot shape and action mode by analyzing human walking action and vision judgment. Use software to operate microcontroller to control operation angle of digital rudder and realize robot walking. Use STM32 to control rudder, and import the rudder control parameter into the robot microcontroller to complete the test debugging of the robot. Test results show that the robot can correctly realize compiling action, and realize vision judgment in walking.