aliengo

Collection of quadrupedal robots configured to work in CHAMP development framework

🐕 Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1

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.

Implementation of the UNI-O4 framework on the Unitree Aliengo robot using Python, demonstrating improved locomotion performance.

Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1

An end-to-end robotic perception pipeline using NVIDIA Isaac Gym and ROS2, simulating a quadruped robot (AlienGo) navigating an environment with real-time perception and mapping.