Abstract: There is a broad application prospect in the development of humanoid robot. Its research and manufacturing work have attracted international attention. Great achievements have been made in recent years. However, many problems on theory and technology appear and need to be further researched on. Gait planning of humanoid robot based on ZMP is one of the critical techniques. On the base of comparing and analyzing humanoid robot′s different methods about gait planning, the article proposes a new way-inverse two step method. The simulation and research indicate that it is feasible to adopt this method to plan ZMP′s track.