This project showcases a bipedal simulation using MuJoCo. The robot walks using a simple controller and finite state machines (FSMs) to manage its gait.
Hip Joint (Pin Joint): Allows the upper leg to swing. Knee Joint (Slide Joint): Allows the foot to retract to avoid ground contact. Actuators: Position Servo: Controls the hip and knee joint positions. Velocity Servo: Controls the joint velocities.
The simulation loads the biped model from biped.xml and sets initial positions using init_controller.
State estimation converts quaternions to Euler angles and calculates foot positions for the walking cycle.
The controller manages the walking gait: Hip: Alternates leg swings. Knee: Manages leg extension and retraction.