{"id":16272289,"url":"https://github.com/perinim/humanoidrobot-squatanalysis","last_synced_at":"2026-04-25T11:35:48.316Z","repository":{"id":169098762,"uuid":"474633389","full_name":"PeriniM/HumanoidRobot-SquatAnalysis","owner":"PeriniM","description":"Humanoid robotic legs analysis for performing symmetric and asymmetric 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Analysis\u003c/b\u003e\u003c/h1\u003e\n\u003c/div\u003e\n\n\u003c!-- ABOUT THE PROJECT --\u003e\n## About The Project\n\nThe goal of the project is to get reaction forces and torques at the legs' joints of a humanoid robot while performing a _symmetric_ and _asymmetric_ squat.\nThe torso of the robot is considered as a vertical distruibuted force of 300N.\n\nA _symmetric squat_ consists of a squat where all the leg's joints actuate at the same time and with the same displacement, thus keeping the torso parallel to the ground.\n\u003cdiv align=\"left\"\u003e\n\u003cimg src=\"matlab/img/sym_squat_img.PNG\" alt=\"sym_squat_image\" width=\"60%\"\u003e\n\u003c/div\u003e\n\nAn _asymmetric squat_ consists of a squat where all the leg's joints actuate at the same time but with different displacements, thus the torso won't be parallel to the ground anymore.\n\u003cdiv align=\"left\"\u003e\n\u003cimg src=\"matlab/img/asym_squat_img.PNG\" alt=\"asym_squat_image\" width=\"60%\"\u003e\n\u003c/div\u003e\n\n\u003cp align=\"right\"\u003e(\u003ca href=\"#readme-top\"\u003eback to top\u003c/a\u003e)\u003c/p\u003e\n\n\u003c!-- GETTING STARTED --\u003e\n## Getting Started\n\nClone the repo on your device or donwload it in a folder.\n\n### Prerequisites\n\nYou must have installed:\n\n* \u003ca ref=\"https://it.mathworks.com/products/matlab.html\"\u003eMatlab 2021 or newer\u003c/a\u003e\n* \u003ca ref=\"https://it.mathworks.com/products/simulink.html\"\u003eSimulink\u003c/a\u003e\n* \u003ca ref=\"https://it.mathworks.com/products/simscape-multibody.html\"\u003eSimscape Multibody Plug-in\u003c/a\u003e\n\n\u003c!-- USAGE EXAMPLES --\u003e\n## Usage\nIn order to make it work and get the actions at the joints, you must follow the following steps:\n1. Open Robot_model.slx;\n2. Open and Run the first section of plots.mlx;\n3. Run Robot_model.slx;\n4. Run the second section of plots.mlx\n\u003cp align=\"right\"\u003e(\u003ca href=\"#readme-top\"\u003eback to top\u003c/a\u003e)\u003c/p\u003e\n\n\u003c!-- ROADMAP --\u003e\n## Roadmap\n\n- [x] Implement symmetric squat movement of one leg\n- [x] Implement symmetric squat movement of both legs\n- [x] Plot reaction forces at the joints\n- [x] Implement asymmetric squat\n- [x] Add variable upper weight and spherical joints\n- [x] Simulate and retrieve motors' torques\n\u003cp align=\"right\"\u003e(\u003ca href=\"#readme-top\"\u003eback to top\u003c/a\u003e)\u003c/p\u003e\n\n\u003c!-- RESULTS --\u003e\n## Results\nThe plots of the reaction forces at the joints for symmetric and asymmetric squats are presented.\n\n_Symmetric Squat Plots_\n\u003cdiv align=\"left\"\u003e\n\u003cimg src=\"matlab/img/Sym_Squat.png\" alt=\"sym_squat_plots\" width=\"60%\"\u003e\n\u003c/div\u003e\n\n_Asymmetric Squat Plots_\n\u003cdiv align=\"left\"\u003e\n\u003cimg src=\"matlab/img/Asym_Squat.png\" alt=\"asym_squat_plots\" width=\"60%\"\u003e\n\u003c/div\u003e\n\n_Simscape model_\n\u003cdiv align=\"left\"\u003e\n\u003cimg src=\"img/simscape_model.PNG\" alt=\"simscape_model\" width=\"60%\"\u003e\n\u003c/div\u003e\n\n\u003cp align=\"right\"\u003e(\u003ca href=\"#readme-top\"\u003eback to top\u003c/a\u003e)\u003c/p\u003e\n\n### Built With\n\u003cdiv align=\"left\"\u003e\n\u003cimg src=\"img/matlab_simscape_logo.png\" alt=\"Logo_simscape\"\u003e\n\u003c/div\u003e\n\u003cp align=\"right\"\u003e(\u003ca href=\"#readme-top\"\u003eback to top\u003c/a\u003e)\u003c/p\u003e\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fperinim%2Fhumanoidrobot-squatanalysis","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fperinim%2Fhumanoidrobot-squatanalysis","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fperinim%2Fhumanoidrobot-squatanalysis/lists"}