Respect to the issue of serving humanoid robots following human， walking pattern generation based on human walking capturing is studied, and experimental study of following walking between a biped robot and human is conducted. Considering the motion capability limitation of the robot, human walking patterns obtained online by PS three-dimensional capture system are matched to the robot in kinematics aspect to generate robots’ walking patterns and to build a library for them. Similarities between the robot and human are defined by parameters in both the Cartesian space and the joint space. The similarity based method of choosing walking patterns online and the “joint angle distance” based method of pattern transition are proposed to solve the problem of following walking with varying velocity. Finally, the experiments of biped robot following different people are conducted, in which stable walking is achieved. The following distance error is in the range of ±52 mm during the following process and the position error is no more than ±10 mm after the following process ended.