section_path: Control robotics areas/Locomotion/Walking robots/ZMP technique
section_name: ZMP technique
paragraph_text: ZMP technique
  
  The zero moment point (ZMP) is the algorithm used by robots such as Honda 's ASIMO. The robot's onboard computer tries to keep the total inertial forces (the combination of Earth 's gravity and the acceleration and deceleration of walking), exactly opposed by the floor reaction force (the force of the floor pushing back on the robot's foot). In this way, the two forces cancel out, leaving no moment (force causing the robot to rotate and fall over). However, this is not exactly how a human walks, and the difference is obvious to human observers, some of whom have pointed out that ASIMO walks as if it needs the lavatory. ASIMO's walking algorithm is not static, and some dynamic balancing is used (see below). However, it still requires a smooth surface to walk on.