Running Robot Model in Simscape

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

https://github.com/mathworks/Simscape-Robot-4Legs

버전 25.2.2.7 (7.86 MB)
다운로드 수: 4.3K
(13)
2025/12/24

이 제출물을 팔로우합니다

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.
You can also test the example in MATLAB Online.
Use the links below to get files compatible with earlier releases of MATLAB.
This multibody dynamics model is based on the example covered in the paper "Tool-Supported Mechatronic System Design"
Try these free, hands-on tutorials to learn how to use Simscape:
To learn more about modeling and simulation with Simscape, please visit:
Product Capabilities:

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인용 양식

Steve Miller (2026). Running Robot Model in Simscape (https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/25.2.2.7), GitHub. 검색 날짜: .

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버전 퍼블리시됨 릴리스 정보
25.2.2.7

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/25.2.2.7
25.1.2.7

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/25.1.2.7
24.2.2.7

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/24.2.2.7
24.1.2.7

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/24.1.2.7
23.2.2.5

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/23.2.2.5
23.1.2.5

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/23.1.2.5
22.2.2.5

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/22.2.2.5
22.1.2.5

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/22.1.2.5
21.2.2.4

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/21.2.2.4
21.1.2.3

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/21.1.2.3
20.2.2.2

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/20.2.2.2
20.1.2.1

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/20.1.2.1
19.2.2.0

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/19.2.2.0
19.1.1.5

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/19.1.1.5
18.2.1.4

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/18.2.1.4
18.1.1.3

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/18.1.1.3
17.2.1.2

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/17.2.1.2
17.1.1.1

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/17.1.1.1
16.2.1.0

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/16.2.1.0
1.5.0.2

Connected this repository to GitHub
1.5.0.1

Added links to download files compatible with earlier releases of MATLAB.
1.5.0.0

Added R19a version.
1.4.0.1

Added R18b version.
1.4.0.0

Updated Contact Force Library in all versions to use v4.1.
1.3.0.0

Added R2018a version, which uses Simscape Multibody Contact Force Library v4.0.
1.2.0.0

Updating contact force library only, no changes to running robot example.
1.1.0.0

Added R2016b and R2017b versions.
1.0.0.0

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이 GitHub 애드온의 문제를 보거나 보고하려면 GitHub 리포지토리로 가십시오.