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humanoid-balance-simulator

Master the art of humanoid robot balance control! Learn Zero Moment Point (ZMP), inverted pendulum dynamics, and gait generation used in Boston Dynamics Atlas and Tesla Optimus.

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这是什么?

🎯 模拟器提示

📚 术语表

ZMP
零力矩点 - 水平力矩总和为零
COM
质心 - 所有质量的平均位置
COG
重心 - 重力有效作用的地方
DOF
自由度 - 独立运动轴
LIPM
线性倒立摆模型
MPC
模型预测控制
DCM
运动的发散分量
IMU
惯性测量单元
Gait
腿部运动的运动模式
Stance Phase
脚与地面接触
Swing Phase
脚在空气中移动

🏆 关键人物

Miomir Vukobratović

发明ZMP概念(1968年)

Shuuji Kajita

线性倒立摆模型,预览控制

Marc Raibert

创立波士顿动力公司,动态腿式运动

Jerry Pratt

推恢复的捕获点理论

Elon Musk

Tesla Optimus,大众市场的人形机器人愿景

💬 给学习者的话

{'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.'}

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