In this paper, the concept of divergent component of motion (DCM, also called “Capture Point”) is extended to 3-D. We introduce the “Enhanced Centroidal Moment Pivot point” (eCMP) and the “Virtual Repellent Point” (VRP), which allow for the encoding of both direction and magnitude of the external forces and the total force (i.e., external plus gravitational forces) acting on the robot. Based on eCMP, VRP, and DCM, we present methods for real-time planning and tracking control of DCM trajectories in 3-D. The basic DCM trajectory generator is extended to produce continuous leg force profiles and to facilitate the use of toe-off motion during double support. The robustness of the proposed control framework is thoroughly examined, and its capabilities are verified both in simulations and experiments.