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A MuJoCo Sim of a Unitree G1 Visualizes the Zero-Moment Point

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A MuJoCo simulation of a Unitree G1 visualizes the Zero-Moment Point paper by Vukobratovic and Borovac: at 6 kg payload the ZMP slides toward the toes and the robot leans back to recover; at 16 kg it crosses the toe edge and no foot support remains.

Zero-Moment Point MuJoCo Simulation Unitree G1 Balance

Category: humanoid

Author: @AlloyRobotics

Date: 2026-10-14T00:00:00

Duration: 29.0s

Source: https://x.com/AlloyRobotics/status/2110476003185201165

Reference: https://doi.org/10.1142/S0219843604000083

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