This article presents a method for planning the static position of THBIP-I (Tsinghua Biped Humanoid Robot) and a control strategy for its execution. The robot includes a head, torso, two arms, and two legs, with a total of 32 degrees of freedom. This project aims to enable the robot to perform static walking in various environments as an independent humanoid robot. Firstly, the mechanical structure and control architecture of the robot are determined. Secondly, a method for creating a static position based on the optimization of the supporting foot is presented, and a control strategy consisting of a combined controller and sensor feedback regulator is described. Navigation experiments demonstrate the robot's ability to maintain a static position, perform desired directional motions, and ascend/descend stairs. Keywords: humanoid robot, control system, regulator, THBIP-II robot, Humanoid Walker Training model