Whole body Inverse Kinematics based on Pinocchio and qpmad
Reproduction of the Walk These Ways low-level locomotion controller in a MuJoCo environment for the AlienGo quadruped, enabling sim-to-sim evaluation of policies originally trained in Isaac Gym.
A legged locomotion project
🐾 Implement Proximal Policy Optimization (PPO) for quadruped locomotion, achieving 96% performance of RSL-RL with a custom solution for enhanced robot control.
ROS2 quadruped robotics framework for simulation and small prototypes.
Unitree Go2 based on legged_gym
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