“…Dynamic mobility of legged robots across difficult terrains requires considering the robot's dynamics, actuation restrictions, and interaction with the environment. Legged robots now focus on movement and balancing, with the zeromoment point (ZMP) or center of pressure (CoP) being crucial for balancing [1][2][3][4]. The humanoid research community is increasingly interested in the complex motion control tasks of multi-DOF humanoid robots, particularly those with hyper-DOF systems.…”