https://github.com/mathworks/simscape-robot-4legs

Quadruped robot model with electrical actuation, including gait analysis and design workflow.
https://github.com/mathworks/simscape-robot-4legs

Last synced: 4 months ago
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Quadruped robot model with electrical actuation, including gait analysis and design workflow.

• Host: GitHub
• URL: https://github.com/mathworks/simscape-robot-4legs
• Owner: mathworks
• License: other
• Created: 2019-10-30T09:38:42.000Z (over 5 years ago)
• Default Branch: master
• Last Pushed: 2024-08-22T13:30:59.000Z (10 months ago)
• Last Synced: 2025-01-03T10:46:52.712Z (6 months ago)
• Language: HTML
• Size: 28.8 MB
• Stars: 29
• Watchers: 2
• Forks: 7
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE.md
  • Security: SECURITY.md

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README

        
# **Running Robot Model in Simscape**

Copyright 2012-2023 The MathWorks(TM), Inc.

![](Overview/html/sm_robot_run_4legs_mechExp_Anim.gif)

This example shows how simulation tools can be used to support the

design of a running robot. See Hyde, R.A. and Wendlandt, J. "Tool-Supported Mechatronic System

Design", 34th Annual Conference of the IEEE Industrial Electronics Society, 10-13th November

2008, Orlando, Florida for more background information.

Open Robot_Run_4Legs.prj to begin.

View on File Exchange: [![View Running Robot Model in Simscape on File Exchange](https://www.mathworks.com/matlabcentral/images/matlab-file-exchange.svg)](https://www.mathworks.com/matlabcentral/fileexchange/64237-running-robot-model-in-simscape)  

You can also open in MATLAB Online: [![Open in MATLAB Online](https://www.mathworks.com/images/responsive/global/open-in-matlab-online.svg)](https://matlab.mathworks.com/open/github/v1?repo=mathworks/Simscape-Robot-4Legs&project=Robot_Run_4Legs.prj)

## **Main Model**

![](Overview/html/sm_robot_run_4legs_01.png)

## **Motor Model**

![](Overview/html/sm_robot_run_4legs_03.png)

## **Control Logic**

![](Overview/html/sm_robot_run_4legs_05.png)