Sensorimotor control plays a critical role in human motions, from involuntary reflex actions to voluntary skill learning. In fact, sensorimotor control contributes almost all kinds of human motions and it allows humans to adapt their motions to self-body sensations and environmental variations1. However, most existing approaches generate or simulate motions independent of perceptions, and thus the types of the motions that these methods can generate are much fewer than those performed by humans. We propose a sensorimotor control framework to simulate perception-aware motions in this study. In particular, we simulate motion sickness, which is a typical perception-aware motion that induces the postural instability caused by the impairments in the function of the vestibular system.