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Humanoid robots are a hot topic in the field of robotics research.The walking system is the critical part of the humanoid robot,and the dynamic simulation of the walking system is of great importance.In this paper,the stability of the walking system and the rationality of its structural design are considered in the study of dynamics for a humanoid robot.The dynamic model of humanoid robot walking system is established by using the Lagrange dynamics method.Additionally,the three-dimensional model of CATIA is imported into ADAMS.The humanoid robot walking system is added with the movement of the deputy and the driving force in the ADAMS.The torque and angular velocity of the ankle joint and hip joint are analyzed in the process of knee bends.The simulation results show that the overall performance of the humanoid robot walking system is favorable and has a smooth movement,and the specified actions can be completed,which proves the rationality of the humanoid robot walking system design.