A method for controlling a gait of a biped robot, wherein the method comprises: selecting gait controlling parameters of the biped robot in a step starting phase, a mid-step phase and a step ending phase, and acquiring a movement trajectory of a center of mass of the biped robot in the mid-step phase when a zero moment point of the biped robot is located within a steady area (Step S11); obtaining, according to the movement trajectory of the center of mass in the mid-step phase, first numerical values of each of the gait controlling parameters of the center of mass when the mid-step phase starts and second numerical values of each of the gait controlling parameters of the center of mass when the mid-step phase ends (Step S12); setting a first constraint condition that the center of mass is required to satisfy when the step starting phase ends by using the first numerical values, and setting a second constraint condition that the center of mass is required to satisfy when the step ending phase starts by using the second numerical values (Step S13); calculating the movement trajectories of the center of mass in the step starting phase and the step ending phase on the basis of the first constraint condition and the second constraint condition, respectively (Step S14); and controlling walking of the biped robot, so that when the biped robot is walking, the movement trajectory of the center of mass satisfies each of the movement trajectories of the center of mass in the step starting phase, the mid-step phase and the step ending phase, to realize a steady walking of the biped robot (Step S15); characterised in that in the mid-step phase the height of the center of mass of the biped robot in the vertical direction is not changed, in the step starting phase the height of the center of mass of the biped robot in the vertical direction is reduced from a higher height to a lower height, and in the step ending phase the height of the center of mass of the biped robot in the vertical direction is increased from the lower height to a higher height. selecting gait controlling parameters of the biped robot in a step starting phase, a mid-step phase and a step ending phase, and acquiring a movement trajectory of a center of mass of the biped robot in the mid-step phase when a zero moment point of the biped robot is located within a steady area (Step S11); obtaining, according to the movement trajectory of the center of mass in the mid-step phase, first numerical values of each of the gait controlling parameters of the center of mass when the mid-step phase starts and second numerical values of each of the gait controlling parameters of the center of mass when the mid-step phase ends (Step S12); setting a first constraint condition that the center of mass is required to satisfy when the step starting phase ends by using the first numerical values, and setting a second constraint condition that the center of mass is required to satisfy when the step ending phase starts by using the second numerical values (Step S13); calculating the movement trajectories of the center of mass in the step starting phase and the step ending phase on the basis of the first constraint condition and the second constraint condition, respectively (Step S14); and controlling walking of the biped robot, so that when the biped robot is walking, the movement trajectory of the center of mass satisfies each of the movement trajectories of the center of mass in the step starting phase, the mid-step phase and the step ending phase, to realize a steady walking of the biped robot (Step S15); characterised in that in the mid-step phase the height of the center of mass of the biped robot in the vertical direction is not changed, in the step starting phase the height of the center of mass of the biped robot in the vertical direction is reduced from a higher height to a lower height, and in the step ending phase the height of the center of mass of the biped robot in the vertical direction is increased from the lower height to a higher height.