Obama didn't endorse ZIRP. He wanted to do more stimulus but Congress wouldn't let him.
In that environment ZIRP was the only solution. Ben Bernanke (a Bush appointee, re-appointed by Obama) devoted his academic career to how the Fed could have prevented the Great Recession. He was right.
People give Obama a pass when they shouldn't. This stuff didn't start with Trump. The problem goes back much further.