Bipedal Balance: Zero Moment Point Simulator (2D)

A humanoid robot never truly "balances" — it constantly places its Zero Moment Point (ZMP) under its support foot with tiny ankle torques and, when that runs out of authority, takes a step to catch itself. This top-down 2D companion drives the exact same real Linear Inverted Pendulum Model and online capture-point footstep planner as the 3D version: nudge it with a push and watch it choose between an ankle correction, a recovery step, or an unavoidable fall, exactly the hierarchy used on real walking robots like Atlas, Optimus and Digit — now seen from directly above, where the support polygon, ZMP and capture point are easier to read against the ground plane. Drag to pan the view and scroll to zoom while the camera keeps following the robot.