Integrated ZMP-WBC Framework for Dynamic Stability in Humanoid Robot Locomotion

Humanoid robots, with their anthropomorphic structure, dexterous manipulation capabilities, and high environmental compatibility with human habitats, have emerged as a research focus in legged robotics. However, contact impacts during dynamic walking and associated stability challenges continue to limit their practical applications. Traditional control methods relying on fixed reference ground reaction forces struggle to effectively address these issues. This paper proposes a hierarchical control framework integrating zero-moment point (ZMP) constraints with whole-body control (WBC). The proposed method involves: 1) establishing both a simplified model and a full-body dynamic model for humanoid robots; 2) real-time generation of ZMP-stabilized reference contact forces; and 3) computation of desired joint torques through WBC optimization. Simulation results demonstrate that compared to conventional WBC approaches, the proposed method significantly reduces peak foot impact forces while enhancing walking stability and terrain adaptability.