Humanoid robot is one of the hot themes in the research field of the robot and has been favored by researchers in recent years, due to the wide demand in medical care, entertainment, services and other areas, as well as the ideal platform for the evaluation of artificial intelligence and other disciplines. Humanoid robot technology requires theoretical and technical support of multiple disciplines, such as mechanics, materials, computer science, artificial intelligence and other related disciplines. Its development also will promote the development and progress of the related disciplines. So the research has a very important theoretical value. Meanwhile, compared with wheeled，tracked, peristaltic and other kinds of robots, the humanoid robot can adapt to the human environment better, its work space is wider, action patterns are richer and the energy utilization efficiency is better, so the research has a very significant application value. The research status of domestic and foreign humanoid robot, gait planning methods and the stability criteria of the research status and the characteristics of them all are introduced in detail.