If You did understand voice recognition and biped programs, You would not ask how to add VR feature to biped robot. Learn what output VR algorithm outputs and what input biped program takes to make robot do something. In computers passing data from module to module (or inside module) is done using numbers. So, if VR algo outputs 255 when You say "Go", it means biped program has to take 255 as it's input and interpret it to move actuators in a manner so that robot moves forward.
