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Simulation of a one-legged hopping robot

by Guy Rouleau

 

15 Sep 2008 (Updated 15 Sep 2008)

Code covered by BSD License  

Simulation of a one-legged hopping robot

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File Information
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
Zip File Content  
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
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Tag Activity for this File
Tag Applied By Date/Time
mechanical modeling Guy Rouleau 22 Oct 2008 10:19:33
robotics Guy Rouleau 22 Oct 2008 10:19:33
simmechanics Guy Rouleau 22 Oct 2008 10:19:33
hopping Guy Rouleau 22 Oct 2008 10:19:33
robot Guy Rouleau 22 Oct 2008 10:19:33
leg Guy Rouleau 22 Oct 2008 10:19:33
 

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