What you’re seeing
The browser model integrates θ̈ = (g/h)θ − Kpθ − Kdθ̇ + d, with h = 0.82 m, g = 9.81 m/s², and a bounded support interval. Kp = 18 + 9g (where g is the gain slider), Kd = 6.8, and the support interval are illustrative assumptions.
INTERACTIVE STUDY 01
Balance is
a moving
target.
A closed-loop balance study: a PD controller senses leg angle and applies virtual ankle torque while periodic disturbances nudge the body off center.
EXPLORE THE MODEL ↓LOADING MABEL STL COMPONENTS…
ACTUAL STL CAD · EXPLODED PARTSMABEL SOURCE ↗
01 — THE PLAYGROUND
Try to stay
upright.
Set an initial lean, vary controller gain, then watch the controller resist disturbances and recover toward upright.
STABLE · CENTERED
INVERTED PENDULUM + PD CONTROL ⓘ+0.5 m0−0.5 m
COM
STEP
CENTER OF MASS SUPPORT FOOT
x = 0.00 m
← BACKFORWARD →
SLOWQUICK
LIVE COM OFFSET0.00 m
Educational linear inverted-pendulum approximation with PD feedback; virtual torque is applied about the ankle. Not a rigid-body/contact simulation.
MODEL STATEThe controller is holding near upright.VISUAL FRAME 000
02 — READ THE MODEL
Useful to explore.
Honest by design.
What it leaves out
This is a single-link linearized model with a PD controller and synthetic external disturbances. It does not solve a multi-link leg, foot-ground contact, actuator saturation, or a walking gait; it is not PyBullet/MuJoCo.
Reference hardware
MABEL publishes articulated-leg CAD/print parts as a reference. This page does not reproduce MABEL geometry or claim that its hardware is Anushka’s design. The repository lists GPL-3.0; model source and terms are linked here.