The gait pattern generation of humanoid robots has several solutions and it is a no closed problem, so we propose in this work a feasible solution of foot planning for being implemented in real time. Two reference trajectories should be introduced to the humanoid: The COM trajectory and swing foot trajectory. The COM trajectory must maintain the robot stability while it is walking. The swing foot trajectory should change the humanoid position avoiding support leg collision, obstacle collision, maintain stability limit (ZMP in stable zone) and adapt on landing surface, reduce the reaction force on the floor when it is landing, and reduce the joints angular velocity in particular of knee joint. In this work, foot planning motion of Rh-1 humanoid robot are described in order to get stable walking, and decide in real time the foot placement, so the “Local Axis Gait” (LAG) algorithm is proposed. The performance of this algorithm is described as following: at first, goal foot position and orientation should be decided; it is composed by 3 parameters: step length (Lx), lateral foot motion (Ly) and final foot orientation (Lq). After that, a 5th order polynomial interpolator is proposed for going from actual foot position to goal foot point in the local axis, which allows us to control the position, velocity and acceleration of the foot motion. Human like foot motion is obtained and smooth joints motion could reduce the mechanical efforts. For avoiding support leg collision a preview motion range study of swing foot had been done. Furthermore, for avoiding obstacle collision, maintain stability limit and adapt on landing surface, robot sensors decide the goal foot position and orientation.