{"id":19130239,"url":"https://github.com/mathworks/msra-walking-robot","last_synced_at":"2025-07-11T18:15:41.528Z","repository":{"id":92436418,"uuid":"176955289","full_name":"mathworks/msra-walking-robot","owner":"mathworks","description":"Example files for MATLAB and Simulink Robotics Arena walking robot videos.","archived":false,"fork":false,"pushed_at":"2023-03-22T18:22:49.000Z","size":76796,"stargazers_count":92,"open_issues_count":0,"forks_count":95,"subscribers_count":6,"default_branch":"master","last_synced_at":"2025-06-04T12:16:13.919Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"HTML","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/mathworks.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null}},"created_at":"2019-03-21T13:55:53.000Z","updated_at":"2025-06-02T14:07:08.000Z","dependencies_parsed_at":"2023-03-13T17:29:06.243Z","dependency_job_id":null,"html_url":"https://github.com/mathworks/msra-walking-robot","commit_stats":null,"previous_names":[],"tags_count":1,"template":false,"template_full_name":null,"purl":"pkg:github/mathworks/msra-walking-robot","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/mathworks%2Fmsra-walking-robot","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/mathworks%2Fmsra-walking-robot/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/mathworks%2Fmsra-walking-robot/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/mathworks%2Fmsra-walking-robot/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/mathworks","download_url":"https://codeload.github.com/mathworks/msra-walking-robot/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/mathworks%2Fmsra-walking-robot/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":264868962,"owners_count":23676094,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-09T06:09:55.830Z","updated_at":"2025-07-11T18:15:41.492Z","avatar_url":"https://github.com/mathworks.png","language":"HTML","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Walking Robot Examples\r\n### Copyright 2017-2019 The MathWorks, Inc.\r\n\r\nThis repository contains example files for the following [MATLAB and Simulink Robotics Arena](https://www.mathworks.com/academia/student-competitions/tutorials-videos.html) videos on walking robots.\r\n\r\n* [Modeling and simulation](https://www.mathworks.com/videos/modeling-and-simulation-of-walking-robots-1576560207573.html)\r\n* [Actuation and control](https://www.mathworks.com/videos/matlab-and-simulink-robotics-arena-modeling-pneumatic-robot-actuators-part-1-1542190287608.html)\r\n* [Trajectory optimization](https://www.mathworks.com/videos/matlab-and-simulink-robotics-arena-walking-robots-part-3-trajectory-optimization-1506440520726.html)\r\n* [Walking pattern generation](https://www.mathworks.com/videos/matlab-and-simulink-robotics-arena-walking-robots-pattern-generation-1546434170253.html)\r\n* [Deep reinforcement learning](https://www.mathworks.com/videos/deep-reinforcement-learning-for-walking-robots--1551449152203.html)\r\n\r\nYou can also learn more about this example from [our blog post](https://blogs.mathworks.com/student-lounge/2019/12/20/walking-robot-modeling-and-simulation/).\r\n\r\nFor any questions, email us at roboticsarena@mathworks.com.\r\n\r\n## Setup\r\nRun `startupWalkingRobot.m` to get the MATLAB path ready\r\n\r\nThere are 4 main folders containing the various walking robot examples\r\n\r\n1. `ModelingSimulation` -- Shows how to build the simulation of the walking \r\nrobot, including contact forces, various actuator models, and importing from CAD.\r\n\r\n2. `Optimization` -- Shows how to use genetic algorithms to optimize joint angle\r\ntrajectories for stability and speed.\r\n\r\n3. `ControlDesign` -- Shows how to create closed-loop walking controllers \r\nusing common techniques like Zero Moment Point (ZMP) manipulation and \r\nModel Predictive Control (MPC) for pattern generation.\r\n\r\n4. `ReinforcementLearning` -- Shows how to set up and train a Deep Deterministic \r\nPolicy Gradient (DDPG) reinforcement learning agent for learning how to walk.\r\n\r\nEach of these folders has its own separate README with more information.\r\n\r\n---\r\n\r\n## Multiphysics and Contact Libraries\r\nFor convenience, local copies of the Simscape Multibody Multiphysics Library and\r\nSimscape Multibody Contact Forces Library have been included with this submission. \r\nIf you would like to install the latest version of these libraries, you can find\r\nthem from the Add-On Explorer, or on the File Exchange\r\n\r\n* Simscape Multibody Multiphysics Library: https://www.mathworks.com/matlabcentral/fileexchange/37636-simscape-multibody-multiphysics-library\r\n* Simscape Multibody Contact Forces Library: https://www.mathworks.com/matlabcentral/fileexchange/47417-simscape-multibody-contact-forces-library\r\n\r\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmathworks%2Fmsra-walking-robot","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmathworks%2Fmsra-walking-robot","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmathworks%2Fmsra-walking-robot/lists"}