This study is about the more stable and faster moving system of a biped walking robot on the inclined or crooked surface. Until now, there have been large amount of studies about a biped walking robot, but they are focused mainly on the static stability and intentioned action by external control inputs. So walking stance of almost all human robots stooped slightly or many robots have too slow motion. In this study we are inspecting the control system of stable walking motion which has uniform velocity or acceleration. The core part is the 6 DOF pelvis structure platform to maintain the balance of upper body. The control algorithm of leg frame motion and stabilizing system of this pelvis structure can be contributed to the smoother and faster walks.