The zero moment point (also referred to as zero-tilting moment point) is a concept related to the dynamics and control of legged locomotion, e.g., for humanoid or quadrupedal robots. It specifies the point with respect to which reaction forces at the contacts between the feet and the ground do not produce any moment in the horizontal direction, i.e., the point where the sum of horizontal inertia and gravity forces is zero. The concept assumes the contact area is planar and has sufficiently high friction to keep the feet from sliding. Introduction This concept was introduced to the legged locomotion community in January 1968 by Miomir Vukobratović and Davor Juričić at The Third All-Union Congress of Theoretical and Applied Mechanics in Moscow. The term "zero moment point" itself was coined in works that followed between 1970 and 1972, and was widely and successfully reproduced in works from robotics groups around the world. The zero moment point is an important concept in the motion planning for biped robots. Since they have only two points of contact with the floor and they are supposed to walk, “run” or “jump” (in the motion context), their motion has to be planned concerning the dynamical stability of their whole body. This is not an easy task, especially because the upper body of the robot (torso) has larger mass and inertia than the legs which are supposed to support and move the robot. This can be compared to the problem of balancing an inverted pendulum. The trajectory of a walking robot is planned using the angular momentum equation to ensure that the generated joint trajectories guarantee the dynamical postural stability of the robot, which usually is quantified by the distance of the zero moment point in the boundaries of a predefined stability region. The position of the zero moment point is affected by the referred mass and inertia of the robot's torso, since its motion generally requires large angle torques to maintain a satisfactory dynamical postural stability. One approach to solve this problem consists of using small trunk motions to stabilize the posture of the robot. However, some new planning methods are being developed to define the trajectories of the legs’ links in such a way that the torso of the robot is naturally steered in order to reduce the ankle torque needed to compensate its motion. If the trajectory planning for the leg links is well-formed,