This article conducts the formation control research of walking robot under the modelling difficulty and the sensing information limited. Through establishing the robot’s knowledge library about the formation positional information, based on the priority selective rule to the reference robot, and unifying the limite sensing interactive information, it proposes the host from the knowledge association parallelogram law to obtain the movement vector, the follow robots analysis the next deflection and speed in the fiction parallelogram, and considers the time delay and appropriate control cycle in the analysis. And uses the fuzzy control theory in the robot formation controll process, rests on the artificial experience to avoid obstacles by fuzzy control rules, the robots avoid obstacles flexiblely. The simulation results show the effectiveness of the algorithm.