The present invention may provide a method of generating a walking pattern for a humanoid robot. A nozzle chamber structure is positioned on the substrate to define a nozzle chamber in fluid communication with the fluid inlet channel and a fluid ejection port in fluid communication with the nozzle chamber. A center of the adjusting sheet is installed with a second via hole; and the ratchet block is installed with a non-round buckling hole corresponding to the cylinder at the lower end of the rod body.