To introduce a novel method of driving robot move. This method is to use the force-line model to drive the limbs of the robot inspired from the skeleton movement driven by muscle. A humanoid robot with the force-line model has been constructed. New software for muscle force estimation has been developed. The solution of the parameters which are the input of the software has been statement. Finally, the input parameters have been obtained by experiment and calculation. The humanoid robot can be driven to imitate human walking by the force which along the force-line. It will provide wide insight in developing new type robot for complex motion and applying the technology of force-line driving model in other filed.