Keep in mind that the ZMP is a simplification. In practice with walking robots the support polygon is constantly changing so it can be tough to keep the ZMP inside.

Pregenerated (offline) trajectories will only work in very specific condidions (flat ground, no disturbances), and only if you can model your support polygon well.

That said, everything you learn as you try to make your robot walk with offline trajectories will be useful going forward.

Keep in mind that the ZMP is a simplification. In practice with walking robots the support polygon is constantly changing so it can be tough to keep the ZMP inside.

Pregenerated (offline) trajectories will only work in very specific conditions (flat ground, no disturbances), and only if you can model your support polygon well.

That said, everything you learn as you try to make your robot walk with offline trajectories will be useful going forward.

A robot that is not moving will be stable when the COM is inside the support polygon. A robot that is moving will be stable when the ZMP is inside the support polygon (during which the COM might not be).

I think you need to keep reading until you understand the ZMP a little bit better. Review (or learn) the dynamics equations. Play with a very basic simulation of one foot, one ankle joint, and single mass to represent the rest of the body. It will be pretty clear once you do.

Keep in mind that the ZMP is a simplification. In practice with walking robots the support polygon is constantly changing so it can be tough to keep the ZMP inside.

Getting your robot walking with ZMP is good though. When you can do that you will be ready to move on to other methods.

Keep in mind that the ZMP is a simplification. In practice with walking robots the support polygon is constantly changing so it can be tough to keep the ZMP inside.

Pregenerated (offline) trajectories will only work in very specific condidions (flat ground, no disturbances), and only if you can model your support polygon well.

That said, everything you learn as you try to make your robot walk with offline trajectories will be useful going forward.