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In this paper, a strategy for adapting the NAO robot to different floors with different slipperiness degrees is presented while following a desired human-like Zero Moment Point trajectory. The robot's gait is generated based on the HRSP software package and it aims to be as human-like as possible. The gait parameters such as the step length and walking speed are optimized in order to generate gaits with adequate RCoF for the floor's ACoF, which minimizes the slipping probability, and as suchdoi:10.29333/jisem/9572 fatcat:6xgbjydr5rbetibefe5xakl25y