The design of an efficient collaborative multi-robot framework that ensures the autonomy and the individual requirements of the involved robots is a very challenging task. This requires designing an efficient platform for inter-robot communication. P2P is a good approach to achieve this goal. P2P aims at making the communication ubiquitous thereby crossing the communication boundary and has many attractive features to use it as a platform for collaborative multi-robot environments. In this work, we presented the JXTA Overlay P2P system and implemented P2P robot control system for biped walking robot. Since JXTA-Overlay is able to overcome Firewalls, Routers and NATs, it is possible to control end-devices in a WAN without changing the network security policy. We used JXTA-Overlay for the control of biped working robot and evaluated the proposed system by many experiments. Experimental results have shown that the proposed system has a good performance and can be used successfully for the control of biped robot.