This is a walking module for NAO humanoid robot. NAO is developed by Aldebaran Robotics: http://aldebaran-robotics.com/ The company provides a more advanced walking module, but its sources are not publicly available. Furthermore, we use a different approach to control the robot. The module depends on two libraries: nao_igm and smpc_solver. All sources are published on http://github.com/asherikov. The detailed description of the logic of the module is given in the MS thesis, which is available on http://asherikov.github.io/Projects/naowalk.html Note, that if you want to build the module you need SDK or crosscompilation toolkit provided by Aldebaran Robotics. Refer to INSTALL file for instructions on installation process.