About the Project I took a course called EE683: Robot Control by Professor Min Jun Kim at KAIST during my 2nd semester. One good thing about the course was the bi-weekly assignment which had one specific part where the students were free to implement any algorithm and provide simulation results. I ended up implementing a lot of the techniques and models learned in the course. These are a series of blog posts that cover some of those sections since I felt like it was worth sha

About the Project This was a project I started working on but due to time constraints I couldn't fully complete. However, I think it is still worth writing down about it. This was about making a quadruped simulation model in MATLAB which I was planning to use for some downstream research work like RL algorithms. Hence, I started with building the quadruped model from scratch in Simscape multibody and then using ROS to communicate with the true Unitree Go 1 EDU quadruped for a