Running Robot Model in Simscape
version 21.2.2.4 (7.8 MB) by
Steve Miller
Quadruped robot model with electrical actuation, including gait analysis and design workflow.
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.md file to get started.
Use the "Download" button above to get files compatible with the latest release of MATLAB.
Use the links below to get files compatible with earlier releases of MATLAB.
- For R2021a: https://github.com/mathworks/Simscape-Robot-4Legs/archive/21.1.2.3.zip
- For R2020b: https://github.com/mathworks/Simscape-Robot-4Legs/archive/20.2.2.2.zip
- For R2020a: https://github.com/mathworks/Simscape-Robot-4Legs/archive/20.1.2.1.zip
- For R2019b: https://github.com/mathworks/Simscape-Robot-4Legs/archive/19.2.2.0.zip
- For R2019a: https://github.com/mathworks/Simscape-Robot-4Legs/archive/19.1.1.5.zip
- For R2018b: https://github.com/mathworks/Simscape-Robot-4Legs/archive/18.2.1.4.zip
- For R2018a: https://github.com/mathworks/Simscape-Robot-4Legs/archive/18.1.1.3.zip
- For R2017b: https://github.com/mathworks/Simscape-Robot-4Legs/archive/17.2.1.2.zip
- For R2017a: https://github.com/mathworks/Simscape-Robot-4Legs/archive/17.1.1.1.zip
- For R2016b: https://github.com/mathworks/Simscape-Robot-4Legs/archive/16.2.1.0.zip
This model is based on the example covered in the paper "Tool-Supported Mechatronic System Design"
http://ieeexplore.ieee.org/document/4758205/?reload=true
Try these free, hands-on tutorials to learn how to use Simscape:
- https://www.mathworks.com/learn/tutorials/simscape-onramp.html
- https://www.mathworks.com/learn/tutorials/circuit-simulation-onramp.html
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/
Cite As
Steve Miller (2022). Running Robot Model in Simscape (https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/21.2.2.4), GitHub. Retrieved .
MATLAB Release Compatibility
Created with
R2021b
Compatible with R2016b to R2021b
Platform Compatibility
Windows macOS LinuxCategories
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To view or report issues in this GitHub add-on, visit the GitHub Repository.
To view or report issues in this GitHub add-on, visit the GitHub Repository.
