Aiming at the gain planning of humanoid robot SCUT-I,a slope motion pattern controlled by step length,step period and some other walking parameters is designed.Then,the trajectories of the pelvis and the ankles are planned based on the inverted pendulum model to achieve the slope walking pattern.Moreover,according to the model parameters of SCUT-I,the robot is modeled and simulated through Matlab 6.5.Finally,some experiments are carried out to simulate the movement of the robot on slope,and the results verify the effectiveness and stability of the proposed gait planning method.