Human walking has been intensely studied, but it is di cult to reproduce on humanoid robots that maintain awkward movements. Three main di culties exist. (i) Di↵erent joint kinematics and size between humans and robots. (ii) A rolling motion of the foot which is often impossible to execute with humanoid robots that walk with their feet flat. (iii) A di↵erence in the dynamic model of a robot compared to a human that makes a copy of a human movement lead to unstable walking. In order to take into account the first two di culties, the specifications for reproducing human movements are adjusted. To ensure stability, a previously developed dynamic model called Essential Model is used. The zero moment point (ZMP) is imposed, and the horizontal evolution of the centre of mass (CoM) is computed to satisfy the ZMP.