Overview
29-DOF Humanoid Simulation brings an industrial humanoid to life in MuJoCo. A full Unitree G1 model is driven by a custom control stack that maintains balance under disturbance and reaches target positions through inverse kinematics, prototyping the whole-body coordination needed for the next generation of industrial humanoid robots.
Workflow
Step 1
Set up a MuJoCo physics simulation environment with the Unitree G1 humanoid model, exposing all 29 degrees of freedom for full-body control.
Step 2
Implemented PD-based joint controllers to maintain upright posture and stable balance under external disturbances.
Step 3
Developed a Jacobian-based inverse kinematics solver to drive the end-effector to target positions in Cartesian space, enabling precise arm reaching.
Step 4
Integrated balance and IK controllers into a unified control loop, coordinating whole-body motion to keep the robot stable while executing reach tasks.
Skills & Tools
