In order to verify the omnidirectional walking theory and to meet the requirements of rapid prototyping and economy, a bipedal robot system AIRO based on commercial servo motor-driven joints is designed and implemented. Compared with other motor-driven biped robots of the same size, the structure body of AIRO is lighter, and the leg mass distribution is more in line with the principle of the linear inverted pendulum model. Firstly, the overall system composition of the robot is introduced, including the mechanical structure part and the control system part; Then, based on the linear inverted pendulum model principle and the input speed command of the system, the omnidirectional walking planning and control of the robot is realized in combination with the current state of the robot; Finally, a successful omnidirectional walking experiment was carried out on AIRO to verify the effectiveness of the biped robot motion system.