Whole-Body Humanoid Locomotion Simulator

Direct Action: Drag cursor on robot torso/pelvis to apply dynamic shove impulse (N)

ZMP Margin of Stability

+42.5 mm

Angular Momentum Rate dL/dt

0.0 Nm

Arm Counter-Torque

0.0 Nm

Ground Contact Normal Fz

471.0 N

Stabilization Controller

Whole-Body Control (WBC): Coordinates arm counter-swing, torso pitch, and ankle/knee torque optimization to cancel perturbation momentum without losing ground contact.

Terrain & Disturbance Presets

Physical Parameters

Robot Mass 48 kg

Impulse Force 140 N

Ground Friction μ 0.75

Live Telemetry Event Log

[0.00s] WBC controller initialized. 48kg mass balanced.