Running Robot Model in Simscape

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.txt file to get started.

Use the download button to download files compatible with the latest release of MATLAB.
Use the links below to download files compatible with earlier releases of MATLAB.

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

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/