This paper presents a novel framework of hydraulic-driven biped robot. The target biped robot is a humanoid robot NWPUBR-1 with 12 degrees of freedom (DOF), and its dimensions are close to that of an average male. The joint axis adopts the modular structure design of sensor with angle measurement, and the force sensor is deployed on the side of hydraulic actuator to facilitate force and position control of the robot. Meanwhile, the finite element analysis of critical components is conducted to meet the requirements of mechanical strength in motion. Based on the screw theory, the forward kinematics and Jacobian matrix models are established, and the inverse kinematics of robot is solved by using the analytical geometric method. To achieve real-time control of the robot gait in 3D space, a three-dimensional linear inverted pendulum model (3D-LIPM) is built, and a 3D gait model is generated by combining the zero-moment point (ZMP) theory. In the virtual environment of MATLAB software, the results of programming simulation show that the biped robot can walk stably in the virtual environment, which proves the correctness of 3D-LIPM.