1. A walking pattern generation system of a biped walking robot, comprising: a pole-zero controller for converting a target pattern data input to the system into a reference pattern data through a first transfer function; and a walking pattern generation unit for converting the reference pattern data into a walking pattern data through a second transfer function and outputting the converted walking pattern data, wherein the second transfer function has an unstable zero, and wherein the first transfer function includes a transfer function approximated to an inverse of the unstable zero of the second transfer function.