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Running Robot Model in Simscape

version 1.2 (18.3 MB) by

Quadruped robot model with electrical actuation, including gait analysis and design workflow.

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Models a quadruped robot with electrical actuation. The robot runs with trotting gait on four legs. Supporting models explain and automate the design process for the limbs, joint angle trajectories, and electrical system. This model is similar to quadruped robots such as those seen in the video, “Introducing Spot“ https://www.youtube.com/watch?v=M8YjvHYbZ9w



Please read the README.txt file to get started.

This model is based on the example covered in the paper "Tool-Supported Mechatronic System Design"
http://ieeexplore.ieee.org/document/4758205/?reload=true

Find other Simscape examples by searching posts for the keyword "physical modeling"
https://www.mathworks.com/matlabcentral/fileexchange/?term=%22physical+modeling%22

Learn more about MathWorks Simscape Products:
https://www.mathworks.com/physical-modeling/

Comments and Ratings (2)

Updates

1.2

Updating contact force library only, no changes to running robot example.

1.1

Added R2016b and R2017b versions.

MATLAB Release
MATLAB 9.3 (R2017b)
Acknowledgements

Inspired by: Simscape Multibody Contact Forces Library

Download apps, toolboxes, and other File Exchange content using Add-On Explorer in MATLAB.

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