• Modeled a wheeled biped robot with a 4 bar mechanism based limbs enabling rotation in knee and thigh
• Performed dynamic modeling by getting equations of motion and linearizing them to get state space equations
• Designed an LQR controller for simple balancing of the robot and simulated the whole system in Gazebo via ROS
• Trained and simulated simple biped robot model with external perturbations using RL policy in Mujoco simulator