Yup. I've had ABS on my '07 FJR-1300 and my '08 SV-650
It's saved my ass several times. Once I had a car (in the rain) pull out in front of me and proceed to blow its engine, so it ground to a halt really quickly with no brake lights. I'd have eaten bumper with no ABS. Another time someone ran over a full quart jug of oil at an intersection, resulting in a huge puddle of fresh oil. Again, ABS kept me upright, and even it had a struggle to deal with that. I have lots more commuter-combat stories about ABS.
The videos don't play for me, but that TCB stuff sounds like hogwash.
I haven't seen the 2015 ABS on the Zero yet (even though I bought one) but there was big changes from my SV-650 w/o ABS to the model with ABS. They added non-flexible stainless steel brake lines inside the frame, and openings in the headstock for said lines, and they had to move things around to find a place for the hydraulic unit. It resulted in needing to remove the swingarm to get to the rear camchain tensioner on valve adjustments. Plus you need new wheels with the rotation encoders and new forks & swingarm with fittings for the encoder sensors.
I think adding ABS would be rather non-trivial. I'm sure it can be done, but it would be a complete bitch.