The biped thread involves coding your own class to control a statically stable planar biped robot. This thread covers forward kinematics, center of mass computation, and trajectory optimization.

The main documentation for this thread can be found here.

---

Table of contents

• 1 - Project Overview
• 2 - Setup
• 3 - Joint Space
• 4 - MuJoCo
• 5 - Midterm
• 6 - Pick and Place
• 7 - Inverse Kinematics
• 9 - Trajectories
• 10 - Final Project