🤖 Humanoid Balance Simulator
Master ZMP control, inverted pendulum dynamics, and gait generation
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Balance Visualization
ZMP
COM
Support
🎛️
Control Panel
Robot Mass (kg)
80
COM Height (m)
0.90
Step Length (m)
0.40
Walking Speed
1.0x
LIPM Equation:
ẍ = ω²(x - p)
where ω = √(g/z), x = COM, p = ZMP
🎯 Zero Moment Point (ZMP)
The magic point where all horizontal torques sum to zero. Keep it inside your feet, and you won't fall! Discovered by Miomir Vukobratović in 1968.
⚖️ Inverted Pendulum
Robots are like broomsticks balanced on your palm! This simple model lets us predict complex walking motion with elegant mathematics.
🚶 Gait Generation
Creating walking patterns by planning where ZMP and COM should be at each moment. The robot follows these trajectories like dancing to choreography!
💪 Push Recovery
When pushed, robots use ankle, hip, and stepping strategies - just like humans! The Capture Point tells where to step to avoid falling.
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Robot Comparison 2026
| Robot | Company | Weight | Height | DOF | Est. Price | Capability |
|---|---|---|---|---|---|---|
| Atlas | Boston Dynamics | 89 kg | 1.5 m | 28 | $140-150K | Backflips, Parkour |
| Optimus | Tesla | 57 kg | 1.73 m | 40+ | $20-30K | Walking, Handling |
| G1 | Unitree | 35 kg | 1.27 m | 23-43 | $16K | Walking, Research |