Biped robot stable walking are significantly influenced by the Zero Moment Point (ZMP) position. Based on the linear inverted pendulum (LIP) model and improved preview control methods, differential inverse kinematics and foot-end ZMP feedback are introduced to achieve center of mass (CoM) position control and gait planning for biped robots, effectively enhancing walking stability. Differential inverse kinematics, as a universal and efficient approach for solving the inverse solutions of robot legs, eliminates the need to consider the existence of analytical solutions. By using joint positions and velocities as feedback in differential inverse kinematics, the foot position error is effectively reduced. Additionally, taking the actual foot-end ZMP and COM position as feedback to correct the next foot placement significantly improves the robot’s landing stability during walking. The method proposed in this paper enables rapid and effective dynamic modeling and analysis of biped robots, laying a foundation for structural iterative design and walking stability evaluation.