@ketanco A zero moment point is the point where the reaction force at the contact of a humanoid robot's foot with the ground does not produce any moment in the horizontal direction (or the point where the total horizontal inertia equals 0). Here is a link that offers a more elaborated explanation of the concept of a zero moment point : http://www.elysium-labs.com/robotics-corner/learn-robotics/biped-basics/zero-moment-point-zmp/

117HandyA zero moment point is the point where the reaction force at the contact of a humanoid robot's foot with the ground does not produce any moment in the horizontal direction (or the point where the total horizontal inertia equals 0).

Here is a link that offers a more elaborated explanation of the concept of a zero moment point : http://www.elysium-labs.com/robotics-corner/learn-robotics/biped-basics/zero-moment-point-zmp/