Abstract: In order to effectively improve humanoid robot's dynamic walking capability, COM (center of mass) and ankle trajectories are generated by taking advantages of the gait generation method based on ZMP (zero moment point) preview control and introducing the rotation about the front & rear edges of the stance foot. Furthermore, gradual decrease in the COM lateral swing amplitude and waist joint yaw moment compensation are used to get faster speed. Finally, the fast and dynamic walking of 3-D virtual humanoid prototype is realized in virtual physical environment by kinetic simulation software. The effectiveness of the proposed method is illustrated by simulation results.