Research　on　walking　stability　of　humanoid　robot　is　a　hot　spot　of　robot　field,　gait　planning　based　on　dynamics　model　is　the　main　method,　but　the　motion　pattern　based　on　gait　planning　need　complex　calculation　and　the　form　is　single.　To　generate　diverse　gait　of　robot,　research　on　the　gait　of　humanoid　robot　within　a　framework　of　imitation　learning　was　launched,　human　walking　information　was　used　as　teaching　data　to　realize　the　imitation　of　human.　The　motion　planning　of　humanoid　robot　was　simplified　and　more　diverse　and　personate　behaviors.　In　order　to　satisfy　the　stability　of　walking　process,　the　cog　deviation　was　compensated　based　on　zero　moment　point　(ZMP)　criterion　and　the　switching　of　the　supporting　feet　in　the　walking　process　was　determined　by　using　the　hysteresis　curve　to　ensure　the　stability　of　robot.　The　simulation　of　imitation　system　based　on　robot　NAO　indicates　that　the　utilizatin　of　ZMP　criterion　ensure　the　stability　in　the　process　of　human　gait　imitation,　and　the　switching　of　supporting　feet　based　on　hysteresis　curve　ensure　the　stability　of　switching　supporting　foot.　©　2018,　Editorial　Department　of　Journal　of　Beijing　University　of　Technology.　All　right　reserved.