MPPI Wheeled Quadruped
Whole-body MPPI controller for the Unitree Go2W wheeled quadruped, extending legged locomotion control with wheel-torque actions, wheel-aware costs, and MuJoCo simulation tasks.
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1 min read
Whole-body MPPI controller for the Unitree Go2W wheeled quadruped, extending legged locomotion control with wheel-torque actions, wheel-aware costs, and MuJoCo simulation tasks.