Although the research about a legged type robot's ZMP (Zero Moment Point) had many examples of research in the past, in those researches, main subjects are that the solution could not be really obtained 1 by 1. It is because redundancy is in the solution by the model of a multi-link system like a legged type robot. In this paper, formulas RHC(Receding Horizon Control) equal constraints are added, and it proposes about the method of controlling ZMP on real time. The proposed technique can

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... e the reference trajectory of ZMP on real time. As for formulization, both of simulation results are described a 2-dimensional plane and in the 3-dimensional space. This technique is easily biped, quadruped, and the legged robot of other types applicable.