  Generating robust locomotion for a humanoid robot in the presence of
disturbances is difficult because of its high number of degrees of freedom and
its unstable nature. In this paper, we used the concept of Divergent Component
of Motion~(DCM) and propose an optimal closed-loop controller based on
Linear-Quadratic-Gaussian to generate a robust and stable walking for humanoid
robots. The biped robot dynamics has been approximated using the Linear
Inverted Pendulum Model~(LIPM). Moreover, we propose a controller to adjust the
landing location of the swing leg to increase the withstanding level of the
robot against a severe external push. The performance and also the robustness
of the proposed controller is analyzed and verified by performing a set of
simulations using~\mbox{MATLAB}. The simulation results showed that the
proposed controller is capable of providing a robust walking even in the
presence of disturbances and in challenging situations.
