In this paper, a task based whole-body control strategy with non-linear stabilizeris proposed for humanoid robots. Its basic idea lies in the control of (i) the CoM, (ii) the relative pose of robot's feet and (iii) joint's limit avoidance. A non-linear ZMP-based regulation is added in the CoM control space to improve the stability. Through the proposed study, it is shown that these tasks allow to produce smooth whole-body motions. Real-time experimentation results are presented to show the effectiveness of the proposed control scheme.