Humanoid Robot Push-Recovery & Balance Simulator

Link Skeleton

Zero-Moment Point (ZMP)

Capture Point (CP)

Kick Force Vector

Kick Presets:

Direct Action: Click and drag anywhere on the robot to drag or kick it directly mid-gait! Observe real-time ZMP shift, Capture Point trajectory, and dynamic stepping strategy.

Controller Gains

Balance Gain (Stiffness) 1.2

External Impulse (N·s) 18.5

Ankle vs Hip Strategy 0.50

Real-Time Telemetry

CoM Velocity 0.00 m/s

Capture Point Dist 0.00 m

Joint Torque 12 N·m

Strategy Stepping