Abstract: The issue about turning gait planning and its realization for biped walking robots is discussed.The methods of turning gait planning for biped walking robots and the key problems involved are introduced firstly,including trajectory interpolation of key points and inverse kinematics solving.Then the processes of its realization for biped walking robots are given in detail.Finally,the computer simulation and experiment of turning motion are presented with the latest biped walking robot developed by our lab.By the results of simulation and experiment,the validation and feasibility of the turning gait planning method based on geometrical constraints plus modified compensation proposed in the paper are proved.