Abstract: This paper presented a new type of humanoid robot gait planning method. The gait of humanoid robot was simplified as 7-link model, lateral gait of humanoid robot was simplified as 5-link model. And then in the case of the same Z coordinate, threcdimensional gait was synthesized. Eventually the method Conducted a validation and simulation through ZMP equation, combined with the actual system and its operational status analysis, the effectiveness of the proposed planning method was verified.

Key words: Humanoid robot, Decoupling synthesis, ZMP equation, Three-dimensional gait