In this paper, a trajectory planning and a control for biped robots with toe and heel joints are shown. We added toe and heel joints to a basic biped robot. A trajectory planning is extended for the walking with the toe and heel joints. Using this mechanism and this trajectory planning, the stride can be increased more. Additionally, a control planning is presented for division of walking stabilization and environmental adaptation. A time-based switching impedance controller with the toe and heel joints is proposed for adaptation to uneven terrain. Using this control planning and the proposed method, the stable walking on the rough terrain is realized. The validity is confirmed by experimental results.