This paper describes a static disturbance compensation control for a biped walking vehicle. To measure forces and moments caused by a passenger's motion, we use a 6-axis force/torque sensor placed under the passenger's seat. When small external force acts on a robot, only a reference ZMP trajectory is changed inside a support polygon. When large external force over a predetermined threshold force acts on a robot, a waist motion is changed. With only the proposed control, however, a robot cannot adapt to rapid disturbance changes. But we have already developed a dynamic disturbance compensation control, so by combining two controls, a human-carrying biped robot, Waseda Leg - No. 16 Refined V (WL-16RV) realized a stable dynamic walk under unknown external disturbances caused by passenger's static and dynamic motion. We confirmed the effectiveness of our proposal through experiments.