Zero moment point

Zero Moment Point (ZMP) is a point on the ground where your body's weight is balanced so that you don't fall. Think of it like a balancing game that you play when you try to walk on a tightrope. You can only step in certain places on the rope and if you lose your balance, you will fall. ZMP works the same way: it's a special spot on the ground where you can stand or step on without falling.