humanoid-balance-simulator

What is this?

🎯 Simulator Tips

📚 Glossary

ZMP

Zero Moment Point - where horizontal moments sum to zero

COM

Center of Mass - average position of all mass

COG

Center of Gravity - where gravity effectively acts

DOF

Degrees of Freedom - independent motion axes

LIPM

Linear Inverted Pendulum Model

MPC

Model Predictive Control

DCM

Divergent Component of Motion

IMU

Inertial Measurement Unit

Gait

Pattern of leg movements for locomotion

Stance Phase

Foot in contact with ground

Swing Phase

Foot moving through air

🏆 Key Figures

Miomir Vukobratović

Invented ZMP concept (1968)

Shuuji Kajita

Linear Inverted Pendulum Model, Preview Control

Marc Raibert

Founded Boston Dynamics, dynamic legged locomotion

Jerry Pratt

Capture Point theory for push recovery

Elon Musk

Tesla Optimus, mass-market humanoids vision

💬 Message to Learners

{'encouragement': "You're learning the same science used in the world's most advanced robots. Boston Dynamics engineers started exactly where you are now.", 'reminder': 'Every expert was once a beginner. The robot revolution is just starting, and YOU can be part of it.', 'action': 'Start with the pendulum visualizer, feel the physics, then design your first walking robot!', 'dream': 'Perhaps an engineer from Kenya will create the first humanoid that helps harvest crops. Perhaps a student from Syria will design robots for disaster rescue. The future belongs to those who build it.', 'wiaVision': 'WIA Book believes robotics belongs to everyone. From Nairobi to Damascus, from Mumbai to São Paulo - these simulators are your gateway to the robot revolution. 무료야, 언제나. Free forever.'}