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Bipedal Balance: Zero Moment Point Simulator

Interactive 3D humanoid-robot balance simulator: watch the Linear Inverted Pendulum walk, place its Zero Moment Point inside the support polygon with an ankle-strategy controller, plan capture-point footsteps, and push it to see when it must step — or fall.

Robotics & Kinematics3DAdvanced60 FPS📱 Mobile-adapted

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 simulator drives a real Linear Inverted Pendulum Model with an online capture-point footstep planner: 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.

⚙ Under the hood

Drive a real Linear Inverted Pendulum humanoid model, watch its Zero Moment Point stay inside the support polygon via an ankle-strategy controller, and push it to see when a capture-point recovery step — or a fall — becomes unavoidable.

roboticshumanoidbalancezmpbipedcontrol-theory

3D · Three.js / WebGL renderer · 60 FPS target · runs fully client-side, no install