https://github.com/ashutosh781/quadruped-simulink

Simscape Multibody simulation of a spider quadruped with 12 DOF
https://github.com/ashutosh781/quadruped-simulink

matlab python simscape simulink simulink-model

Last synced: over 1 year ago
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Simscape Multibody simulation of a spider quadruped with 12 DOF

• Host: GitHub
• URL: https://github.com/ashutosh781/quadruped-simulink
• Owner: Ashutosh781
• License: mit
• Created: 2020-06-05T22:47:33.000Z (almost 6 years ago)
• Default Branch: master
• Last Pushed: 2021-06-04T20:28:30.000Z (almost 5 years ago)
• Last Synced: 2025-01-13T01:15:21.706Z (over 1 year ago)
• Topics: matlab, python, simscape, simulink, simulink-model
• Language: Python
• Size: 1.92 MB
• Stars: 5
• Watchers: 1
• Forks: 3
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# quadruped-simulink

Following repo contains a very basic Simulink model of a spider legged quadruped which is built and tested on MATLAB R2019b.

v1.0- Basic Model has correct kinematics and frames and basic walking.

Refined dynamics and control will be added later

Simscape Multibody simulation of a spider quadruped with 12 DOF

Run the startup_sm_ssci.m inside Libraries directory to initialise simscape multibody multiphysics library

After cloning run the Quadruped_1.slx file

Required Add ons in MATLAB R2019b are Simulink,Simscape,Simscape Multibody.




## Algorithm (not tested)

Dijkstra path planning and a map for it work on

Fastslam 2 for localisation




*Currently this repo is not being built further, might make changes in future.*