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The walking gait planning of humanoid soccer robot is mainly studied in this paper. Firstly, our humanoid soccer robot is introduced, including its basic parameters, its controller and its three new sensors. Secondly, the simplified cart-table model and Zero Moment Point (ZMP) equation are presented. Thirdly, the Center of Mass (COM) and the Center of Coxa (COC) trajectories are computed according to the desired ZMP trajectory, and two feet trajectories are also planned according to the step parameters, then the trajectories of 12 joint angles for lower limbs are calculated according to the closed-form solving of inverse kinematics. Finally, the numeric simulation for walking 6 steps is given, and the method of gait planning using in the paper is validated by simulation.