This article presents a Whole-Body Postural Control (WBPC) approach for a waiter humanoid robot. This approach is based on the concept of a multi-ZMP evaluation
system to control body and transported object stability. Both controllers were developed independently, avoiding cross-linked
perturbations. These controllers that deal with this complexity
were proposed in previous research. The first one was an
improvement for balance control of the body (locomotion) and,
the second one was a method to apply classic body balance
concepts for transporting objects on a tray (manipulation).