Self-balancing lower-limb exoskeletons (SBLLE) have huge potential in rehabilitation applications. In this paper, we propose an effective control framework to let SBLLE walk human-like. By modeling the exoskeleton as a spring-loaded inverted pendulum (SLIP), we designed a motion trajectory generator based on zero-moment point (ZMP), which enables the center of mass (CoM) fluctuate during the walking process. Then, we design a controller to indirectly control the actual ZMP by controlling the trajectory of CoM, which can reduce the influence caused by wearers of different weight. The results demonstrate notable advances in the achievement of autonomous and balanced walking movements, highlighting the effectiveness of the proposed framework.