Human is the most complicated machine that just to now we have not yet been possible to design and to manufacture perfectly a replica. From cradle to grave, human develops time by time from body to spirit and accumulates his own experience especially the study of stepping of child with the help of the mechanism of natural machine learning. In fact, the principle of human stepping is the displacement of common center of gravity of body on the standing foot and release load to the stepping one and so on. In the paper, we dedicate our work to computing and controlling the center of gravity all elements of the humanoid robot to the suitable position on the standing foot to keep the balance of the robot. The center of gravity and the zero-moment-point are objective of the research to ensure the balance and the walking gait of the humanoid robot.