A　feasible　walking　gait　planning　method　for　humanoid　robot　based　on　human　motion　capture　data　is　proposed　in　this　paper.　Firstly,　we　collect　human　walking　data　with　a　human　motion　capture　system　and　extract　14　key　actions　that　represent　the　characteristics　of　human　walking　gait　in　a　gait　cycle;　Then,　we　take　the　minimum　distance　from　the　toe　and　the　heel　of　the　subject　to　the　level　ground　as　the　pivotal　parameter　of　robot　kinematic　model,　and　compute　the　motion　data　of　the　14　key　moments　in　the　joint　space　using　the　7-link　biped　model　of　humanoid　robot　with　consideration　of　the　difference　between　the　kinematic　models　of　human　and　of　humanoid;　Finally,　Our　approach　is　validated　by　simulation　of　NAO　robot　in　Webots.　©　2015　Technical　Committee　on　Control　Theory,　Chinese　Association　of　Automation.