In this paper, an automatic control system of biped robot tracking based on camera was designed. In the hardware system, the idea of modular design was used. The selection of CMOS OV6620 camera to capture images, use TMS320DM642 chip in the image processing and running the algorithm, steering engine control board with ATmega128 as the core. Realization of serial communication between DSP and ATmega128 was gone by SPI. In the software and algorithm design, the collected image needs to be processed by median filtering and binary processing, and then identify the boundary between black line and white board according to the gray value. The corresponding instruction was called by the system to make the biped robot-walking trail finally.