obtaining a desired zero moment point (ZMP) and a fed-back actual ZMP of a robot at a current moment;

based on a ZMP tracking control model, the desired ZMP and the actual ZMP, calculating a desired value of a motion state of a center of mass of the robot at the current moment, wherein the desired value of the motion state of the center of mass comprises a correction amount of the position of the center of mass, and wherein the ZMP tracking control model takes the desired ZMP and the actual ZMP as an input of the ZMP tracking control model, and takes the desired value of the motion state of the center of mass as an output;

based on a spring-mass-damping-acceleration model and the desired value of the motion state of the center of mass, calculating a lead control input amount for the correction amount of the position of the center of mass; and

controlling motion of the robot according to the lead control input amount and a planned value of the position of the center of mass at the current moment, so as to realize tracking of the desired ZMP by the robot;

wherein the spring-mass-damping-acceleration model is created by adding a second mass block to a spring-mass-damping model that includes a first mass block, the second mass block and a desired acceleration are configured to generate a force on the first mass block; a dynamic equation of the spring-mass-damping-acceleration model is obtained by performing force balance analysis on the first mass block, the dynamic equation of the spring-mass-damping-acceleration model is configured to calculate the lead control input amount for the correction amount of the position of the center of mass when the robot performs ZMP tracking.