The test system based on Kinect sensor is established to realize attitude control of humanoid robot with16 degrees of freedom. The sensor of Kinect is used to collect the coordinates of the human body for the purpose of establishing joint model of human body by the way of developing PC software using the processing software based on SimpleOpenNI library. The analysis on humanoid robot gait planning and gravity control algorithm by using space vector method

analyze on rotation angle of each joint. Through module of Wi Fi wireless

send instructions to control steering engines

so as to realize the control of humanoid robot. The results of the experiment show that

the arm of humanoid can move freely in the range of motion and lower limbs can walk simply by controlling gravity

which accords with expected effect.