Event
Whole-Body Angular Momentum Analysis in G1 Double Spin Kick Simulation
1 reports · 1 sources
Guyuehome actually runs the ONNX policy in physics simulation, computing whole-body angular momentum per body for the humanoid robot G1's Double Spin Kick, breaking down spin and orbital rotation, the scheduling of each body group, and landing impact. The analysis points out that the total angular momentum is locked after the double spin kick becomes airborne, and the ground contact phase is the window for momentum injection and absorption.
Report timeline
- G1 Double Spin Kick: Whole-Body Angular Momentum Control in a Humanoid Robot's Spinning Kick
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.
Guyuehome ·