The innovative three-dimensional humanoid biped gait planning method using geodesics is introduced in this article. In order to control three-dimensional walking. the three-dimensional linear inverted pendulum model is studied in our energy-optimal gait planning based on geodesics. The kinetic energy of the three-dimensional linear inverted pendulum model is calculated at first. https://www.lecoureures.shop/product-category/course-a-pied-accessoires-manchettes/