MAE 3260: Simulating a wheeled biped robot

This was the final group project for my system dynamics class, where we modeled the dynamics of a wheeled biped robot. The two primary goals were having the robot balance without falling over, and having the robot move to a desired location. I was tasked with simulating our robot control model in MuJoCo. A demo video of the final result can be found below, as well as our engineering writeup. The github repo with the simulation code is also attached.