This talk will give an overview of control algorithms for walking and running. The talk will start with a discussion of the Capture Point as a system variable in the model representation. For walking on flat ground the relationship between the Capture Point and the Zero-Moment-Point is considered. This model representation allows for a fast online trajectory generation and control. Walking on uneven terrain is addressed by a generalization to the three dimensional divergent component of motion. Finally, some recent algorithms for generation and control of humanoid running motions will be presented.