A method of controlling walking a biped robot to generate a walking pattern maximally similar to that of a human includes generating a walking pattern, calculating a walking pattern similarity corresponding to the walking pattern, and comparing the walking pattern similarity with a predetermined reference pattern similarity, and changing the walking pattern based on a result of the comparison. When the robot walks, a knee is maximally stretched and a horizontal movement of a waist is minimized such that the walking pattern of the robot is maximally similar to that of a human, thus enhancing an affinity for a human being and increasing energy efficiency.