# G1 Double Spin Kick: Whole-Body Angular Momentum Control in a Humanoid Robot's Spinning Kick

- Source: Guyuehome
- Published: 2026-10-17T15:38:00.000Z
- RoboHot: https://robohot.news/en/items/so65e1uhjc4hyxj87dezlkm3t
- Original: https://www.guyuehome.com/detail?id=2104007840751448066

## Summary

Running a real ONNX policy in physics simulation, whole-body angular momentum is computed per body for the humanoid robot G1's Double Spin Kick, breaking down spin and revolution, the scheduling of each body group, and landing impact. The analysis notes that after the double spin kick leaves the ground, total angular momentum is locked, and the ground-contact phase is the window for momentum injection and absorption.