Whole-body motion planning for Unitree G1 humanoid in MuJoCo - ZMP preview control, A* footstep planning, MPC balance (49% energy reduction), RL locomotion, and Jacobian IK manipulation
python reinforcement-learning robotics trajectory-optimisation inverse-kinematics mpc whole-body-control humanoid-robot zmp mujoco motion-planing footstep-planning unitree bipedal-walking
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Updated
Jan 2, 2026 - Python