Simulation of a one-legged hopping robot

Simulation of a one-legged hopping robot

Description

This model simulates a robot jumping on one leg.

I saw this robot at the MIT Museum last winter and after discussing with few colleagues at The MathWorks we decided that it would be cool to have a Simulink model of this robot.

You will find files saved in R2008a and R2008b prerelease. I included the R2008b prerelease because the visualization for SimMechanics is really improved.

For both R2008a and R2008b, you will find a Model that uses the Virtual Reality Toolbox. With this version of the model, it is possible to click in the virtual reality scene to bring the robot where you want. This functionality is adapted from the inverted pendulum demo provided with the Virtual Reality toolbox.

Have fun, and let me know if you have any idea to make it better, or if you decide to add more legs ;-)

• Required Products: Simulink
• MATLAB release: MATLAB 7.6 (R2008a)
• Other requirements: More interesting with Virtual Reality Toolbox. SimMechanics Visualization much more better in R2008b
• Other Files: OneLeg_VR_TouchInput_R2008a.mdl, ; OneLeg_VR_TouchInput_R2008b.mdl, ; robotVR.wrl, ; sfuntraj.m, ; init_hopper.m, ; One_Leg_Robot_R2008a.mdl, ; One_Leg_Robot_R2008b.mdl