**Abstract**

This chapter addresses an approach to generate 3D gait for humanoid robots. The proposed method considers gait generation matter as optimization problem with constraints. Firstly, trigonometric function is used to produce trial gait data for conducting simulation. By collecting the result, we build an approximation model to predict final status of the robot in locomotion, and construct optimization problem with constraints. In next step, we apply an improve differential evolution algorithm with Gauss distribution for solving optimization problem and achieve better gait data for the robot. This approach is validated using Kondo robot in a simulated dynamic environment. The 3D gait of the robot is compared to human in walk.

**Keywords:** Humanoid robot, control data, differential algorithm, gait, optimization
