The　current　research　on　biped　robots　is　mostly　concentrated　on　ideal　conditions,　while　in　reality,　the　robot　system　is　always　subject　to　many　external　disturbances　and　internal　parameter　perturbations,　which　will　lead　to　such　defects　as　weak　anti-interference　ability,　low　real-Time　performance,　low　accuracy　of　controller　trajectory　tracking,　weak　balance　control　ability,　and　solving　its　standing　posture　balance　problem　is　the　premise　to　solve　the　robot　walking　stability.　Combining　the　advanced　depth　deterministic　strategy　gradient　algorithm　(DDPG)　and　extended　state　observer　(ESO),　a　control　strategy　for　biped　robot　upright　disturbance　rejection　balance　is　designed,　which　can　quickly　and　timely　adjust　the　pitch　angle　of　the　robot　hip　joint　to　restore　the　balance　state.　The　DDPG　controller　adjusts　the　joint　angle　in　real　time　through　the　difference　between　the　actual　zero　torque　point　(ZMP)　and　the　expected　value　to　suppress　the　disturbance;　ESO　estimates　and　compensates　the　disturbance　of　unmodeled　dynamics　and　internal　parameter　perturbation,　and　outputs　joint　angle　compensation　to　improve　control　accuracy　and　rapidity.　In　order　to　verify　the　effectiveness　of　ESO-DDPG　controller,　it　is　applied　to　the　interference　suppression　experiment　of　a　stationary　NAO　robot.　When　the　biped　robot　is　disturbed　by　external　disturbances　and　internal　parameter　perturbations,　it　can　quickly　restore　its　standing　posture　balance　in　real　time.　©　2023　IEEE.