​Multi-Contact Planning On Unitree Go1

We show results for walking, hoping, and trotting on robots like the Unitree Go1, WPI's Huron, and Boston Dynamics' Atlas

We are attempting to tackle general switched system optimization problems with Galileo. In order to do so, we start with a real physical quadruped.

For my Undergraduate Major Qualifying Project, I'm working with a team to plan contacts and continuous motion plans for locomotion of a quadruped through potentially messy environments.

The end goal is to develop an easier form of contact planning for complex legged systems. ​

Thanks to Unitree for supplying the Go1 as a platform for us to test on.