Carlos Francisco Rodriguez Herrera

A MATLAB/Simulink-Based Sim2Real Control Framework for the Unitree G1 Using ROS 2 and MuJoCo

Control research on humanoid robots requires environments where control strategies can be designed, tuned, debugged, validated, and transferred to real hardware with minimal friction. For commercial platforms such as the Unitree G1, this process is often fragmented across separate tools for modeling…