In the proposed light-dark dual universe, the light universe is the observable universe with light and kinetic energy that fueled the Big Bang, and the dark universe without light and kinetic energy has been observed as dark energy since about 9 billion years after the Big Bang. The light-dark dual universe started from the zero-energy universe through the four-stage cyclic transformation. Emerging from the zero-energy universe, the four-stage transformation consists of the 11D (dimensional) positive-negative energy dual membrane universe, the 10D positive-negative energy dual string universe, the 10D positive-negative energy dual particle universe, and the 4D (light)-variable D (dark) positive-negative energy dual particle asymmetrical universe. The transformation can then be reversed back to the zero-energy universe through the reverse four-stage transformation. The light universe is an observable four-dimensional universe started with the inflation and the Big Bang, and the dark universe is a variable dimensional universe from 10D to 4D. The dark universe could be observed as dark energy only when the dark universe turned into a four-dimensional universe. The four-stage transformation explains the four force fields in our universe. The theoretical calculated percentages of dark energy, dark matter, and baryonic matter are 72.8. 22.7, and 4.53, respectively, in nearly complete agreement with observed 72.8, 22.7, and 4.56, respectively. According to the calculation, dark energy started in 4.47 billion years ago in agreement with the observed 4.71 +/- 0.98 billion years ago. The zero-energy cyclic universe is based on the space-object structures.