In　order　to　realize　more　efficient　movement　and　stronger　structure　of　the　biped　robot,　this　paper　innovatively　proposes　a　new　connection　configuration　scheme　at　the　knee　joint,　that　is,　the　ball　screw　is　used　for　connection,　the　screw　part　of　the　ball　screw　is　fixed　on　the　upper　side　of　the　thigh,　and　the　rotating　motion　of　the　motor　can　be　converted　into　linear　motion　by　relying　on　the　motion　characteristics　of　the　lead　screw.　Through　the　linear　movement,　the　lower　leg　is　indirectly　driven　to　achieve　movement,　so　that　the　degree　of　freedom　at　the　knee　joint　is　satisfied,　and　the　strength　is　greatly　improved　compared　with　the　traditional　connecting　rod　model.　This　paper　uses　SOLIDWORKS　to　build　the　model,　which　also　reflects　innovation　in　the　design　of　the　hip　joint,　abandoning　the　traditional　five-link　structure　and　adopting　a　more　concise　connection　mode,　while　ensuring　the　freedom　of　the　hip　joint　yaw,　roll　and　pitch,　while　improving　the　strength.　After　the　model　was　established,　ADAMS　was　used　to　simulate　and　verify　the　movement　of　the　model.　The　results　showed　that　the　biped　robot　could　complete　the　basic　movement　ability　of　displaying　the　freedom　of　each　joint,　standing　still,　walking,　turning　in　place,　rectangular　walking　and　climbing,　etc.,　which　fully　demonstrated　that　the　structure　had　a　certain　level　of　obstacle　crossing.　The　structure　of　the　biped　robot　was　explored　again.　©　2024　IEEE.