There were various studies of Humanoid’s bipedal walking. However, most of the researches uses a simplified model. In this research, we study humanoid in hopes of realizing robot walking like a human and consider a gait model of humanoid robot including slipping, bumping, surface-contacting and point-contacting of foot is discussed. First, to stabilize attitude and prevent humanoid from falling down, we proposed Visual-lifting Approach. This method use it’s eyes. Humanoid judged surrounding condition and keep it’s head position high. Next, we need input torque to step forward by feed-forward control but it determined by try and error. This might be waste of energy. So, to solve this problem, I use genetic algorithm(GA). In the report, I explored the best input by GA method and investigated the result.