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, wherein the first transfer function includes a transfer function approximated to an inverse of the unstable zero of the second transfer function, wherein the walking pattern generation unit converts the converted walking pattern data into actual walking control data of the robot and outputs the actual walking control data, and wherein the actual walking control data is kinetically decomposed to generate joint values of each joint axis of the robot, and the generated joint values are transferred to each joint axis and used for controlling a motor at a corresponding joint axis to realize walking of the robot.