Abstract: Inspired by the structural and loading characteristics of animal legs, a nonlinear vibration control system integrating both vibration isolation and absorption is developed in this study. The integrated control system consists of an asymmetric bio-inspired single-joint isolation structure and a nonlinear energy sink （NES）. By leveraging the nonlinear coupling between the isolator and the NES, the system aims to achieve dual objectives: enhancing vibration isolation performance and reducing the amplitude of the isolated object, thereby improving overall vibration control capability. The static and dynamic equations of the integrated isolation-absorption control system are established. Using the generalized transmissibility as the evaluation metric, the effects of structural parameters and nonlinear coupling on the vibration isolation performance are investigated. The results show that, compared to a linear isolation system with an NES and a bio-inspired single-joint isolation structure without an NES, the integrated nonlinear vibration control system significantly reduces the resonance peak amplitude and achieves a wider effective isolation bandwidth. This indicates that the nonlinear coupling between the single-joint isolation structure and the NES is beneficial. Based on practical vibration control requirements such as load-bearing capacity and isolation performance, the integrated nonlinear vibration control system can be tailored through adjustment of structural parameters. The research findings provide theoretical support for broadband vibration control in applications such as spacecraft precision payloads and high-precision machine tools.