In　order　to　realize　the　stable　and　human-like　walking　gait　of　the　humanoid　robot,　we　propose　a　gait　planning　method　based　on　both　the　human　motion　capture　data　(HMCD)　and　the　zero　moment　point　(ZMP).　Firstly,　we　draw　the　motion　patterns　of　human　walking　gait　in　the　joint　space,　which　is　the　angle　data　of　6　DOFs,　namely　the　pitch,　roll,　and　yaw　of　the　hip　joint,　the　pitch　of　the　knee　joint,　and　the　pitch　and　the　roll　of　the　ankle　joint,　of　one　leg,　and　apply　these　motion　patterns　to　the　humanoid　robot　supposing　that　the　motion　of　the　left　and　the　right　leg　are　symmetric　and　phase　reversal.　Secondly,　we　employ　ZMP　as　a　balance　index　to　fine-tuning　the　motion　of　the　humanoid,　so　that　we　can　achieve　a　robust　walking　of　humanoid　in　the　situation　of　disturbance.　We　validate　our　approach　via　simulation　in　Webots.　©　2016　IEEE.