How can I control the motion at the joints with an input function?

I need to control the movement of the joints in the following model to simulate a bipedal robot walking, and need to input the reinforcement learning algorithm that we have already done (which was originally demonstrated with a 2D minifigure). Now the model below can only swing its legs naturally, like a pendulum, how should I import the position and angle information of each frame calculated by the reinforcement learning algorithm into simscape?

Answer 1

[Divyanshu]

Hi,

As per my understanding you are trying to import the position and angle information calculated by reinforcement learning algorithm into simscape.

A possible workaround can be:

• Use 'From Workspace' block using which you can load data from base workspace into a Simulink Model.
• Next, you can use 'Simulink-PS Converter' to convert the output of above block into a physical signal.

Please refer the following documentations for better understanding of the above blocks:

• https://www.mathworks.com/help/simulink/slref/fromworkspace.html
• https://www.mathworks.com/help/simscape/ref/simulinkpsconverter.html

Hope it helps!