Additional Materials

Acknowledgments

We would like to thank Ayush Agrawal for his technical guidance and Sunay Poole for his logistics guidance on this project.

GitHub of Current Code

https://github.com/sdurand543/stability_estimation2

Showcase Slides

https://docs.google.com/presentation/d/1A_7dzRvrS9b8LHYz_dedx7GhHeq7i6aAE2YDGYk73-0/edit#slide=id.p

Libraries Utilized

• Motion imitation: https://github.com/google-research/motion_imitation

• PyBullet BulletPhysics: https://github.com/bulletphysics

• Elevation Mapping: https://github.com/ANYbotics/elevation_mapping

• Unitree Robotics: https://github.com/unitreerobotics

Additional Testing Videos

https://drive.google.com/drive/folders/1-5_BBtc5KH6l-OLv90xNIbezfHxT-rzM?usp=sharing