 In the following works and papers that were produced between 1970 and 1972 it would then be called zero moment point and would be spread around the world.The zero moment point is a very 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.