This work introduces a digital-twin based approach to path planning in the presence of obstacles for a quadrupedal robot, utilizing virtual sensors and a path planning algorithm. Ray-casting and NavMesh agent-based algorithms are used to devise collision-free paths. The Ray-casting algorithm detects dynamic objects virtually, while the NavMesh system determines a feasible path for the robot. Real-time communication between the digital twin and the physical robot facilitates seamless movement. The effectiveness of this approach in enhancing the robot’s navigation and obstacle avoidance capabilities can be demonstrated through both simulated scenarios and real-world experiments. The implementation of the digital twin, along with the utilization of path planning and obstacle avoidance algorithms available in the Unity software, as well as the real-time integration with the physical robot, are significant contributions of this work. A shared environment is demonstrated for communications between robots, each with its own digital twin.