PETMAN is an anthropomorphic robot designed for testing chemical protection clothing. Natural agile movement is essential for PETMAN to simulate how a soldier stresses protective clothing under realistic conditions. PETMAN balances itself and moves freely; walking, bending and doing a variety of suit-stressing calisthenics during exposure to chemical warfare agents. PETMAN also simulates human physiology within the protective suit by controlling temperature, humidity and sweating, all to provide realistic test conditions.