[en] For the control of biped locomotion, the model-referenced-control or programmed control method is widely used. In this method, the instantaneous torque of actuator equipped at each joint is controlled so as to equalize measured angle to input joint angle based on the prescribed motion. The drawback is that this method can not deal with the dynamic change of walking such as that due to unknown external force. To resolve such the drawback, we propose a new control method as follows: given a prescribed motion as a set of gait, namely gait of starting walk, cyclic walk, and stopping walk including a standard trajectory of the Zero-Moment-Point (ZMP), the trunk motion to compensate the legs' motion is generated in real time using the current ZMP measured by sensing device. The proposed method will be validated through some numerical simulations. (author)