Abstract: As a walking stability criterion of biped robot, ZMP(Zero Moment Point) was implied in many famous biped robot system, such as P2,P3,ASIMO of HONDA Co. in Japan. Now, most biped walking robots have actual ZMP measurement systems. Only a few of them uses Universal Force-Moment Sensors, because of weight and cost. Moreover, in those sensors were not installed in best position. In this paper, in order to satisfy the profect of humanoid robot in Tsinghua University, China, a method using Universal Force-Moment Sensors to measure actual ZMP is presented. The best position to install sensors is put forward. The formulas for computing actual ZMP in single support phase and double support phase are described. In addition, three posture adjustment control methods are explained. They will be applied to on-line gait generation.