Zero Moment Point (ZMP)

Zero Moment Point (ZMP)

ZMP is the location on the ground where the combined tipping effects of gravity and inertia cancel out. As long as this point stays within a robot’s support area, the motion remains dynamically stable.

ZMP-based planning underpins model-driven walking control — stabilizing steps, shifting weight safely, and responding to disturbances in real time. 

Zero Moment Point (ZMP) image-12.png

ZMP defines where a robot’s support forces cancel tipping. Keeping it within the foot area ensures stability during locomotion. Source: A Physically-Based Motion Retargeting Filter

While newer methods blend ZMP with learned dynamics, it remains a core tool for making humanoid motion stable and predictable.