Abstract:It is urgent breakthrough technology for the development of computer image processing to research 3D humanoid robot voluntary movement in the complex environment due to the traditional way of dealing with time-consuming and too complex. In response to these problems, this paper proposes a motion planning system capable of generating both global and local motions for a humanoid robot in a layered or two and half dimensional environment , so that the humanoid robot in the rugged environment to achieve frontal and side walking, jogging and jumping procedural animation. The results show that: the proposed method is simple and fast..\