In order to satisfy the requirement of realtime gait programming of humanoid walking with foot rotation,a kind of modified Nonlinear Model Predictive Control(NMPC)scheme was proposed.Based on setting suitable kinetic and kinematic virtual constraints of Single Support Phase(SSP)and three subphases of Double Support Phase(DSP),complex realtime gait programming problem was simplified to four online NMPC dynamic optimization problems.A numerical approach was proposed to transform the dynamical optimization problem to the finite dimensional static optimization problem which can be solved by Sequential Quadratic Programming(SQP).It can be concluded from simulation that using this method on BIP model can realize online gait programming of dynamic walking with foot rotation and the biped stability can be satisfied such that there is no sliding during walking.