The invention discloses a control method of a humanoid robot with high real-time property and strong engineering practicability, comprising the following steps: (1) establishing table-trolley mathematical model which is simplified into a system state equation; (2) selecting a basic function; (3) sampling and calculating real ZMP of the anthropomorphic robot by a sensor of the anthropomorphic robotaccording to a sampling period, and recording the position of the real ZMP as p; (4) comparing the p and pm output by the system state equation in the step (1) in each sampling period to obtain an error marked as e, ensuring the error by an expression e=p-pm to carry out model feedback correction, and finally leading the e to tend to zero; (5) substituting the feedback corrected model into a prediction function control optimization algorithm; (6) controlling a servo driver of the humanoid robot by control quantity output by prediction function control optimization operation; (7) repeating thesteps (3)-(7) to obtain the real control quantity of each sampling period, and the motion of the anthropomorphic robot is controlled in real time.