Traditional bipedal robot walking is controlled by trajectory tracking， while human walking is in the passive state in most of the time. Aiming at the problem that the semi-passive bipedal robot with variable length telescopic legs starts to walk from a static condition， a starting and walking human-like control method was proposed. Firstly， a serial elasticity driven Bipedal Spring-Loaded Inverted Pendulum （B-SLIP） model was used. Then， the Lagrange method was used to establish the walking dynamics equation. With the self-stability of the proposed model， in the double support stage， the energy error Proportional-Integral （PI） feedback control and lazy control method were used to control the hind leg extension and contraction. In the single support stage， the swing-leg swing back method was used to control the height and forward speed of the robot. Simulation results show that the proposed control strategy can enable the bipedal robot to realize the starting and walking process on the horizontal plane， and the corresponding control system has anti-interference ability against external period disturbance force.