https://github.com/perinim/humanoidrobot-squatanalysis

Humanoid robotic legs analysis for performing symmetric and asymmetric squats
https://github.com/perinim/humanoidrobot-squatanalysis

control-systems humanoid-robot matlab mechanical-engineering optimization robotics simulink

Last synced: about 2 months ago
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Humanoid robotic legs analysis for performing symmetric and asymmetric squats

Host: GitHub
URL: https://github.com/perinim/humanoidrobot-squatanalysis
Owner: PeriniM
License: mit
Created: 2022-03-27T12:38:30.000Z (about 4 years ago)
Default Branch: main
Last Pushed: 2022-09-23T13:53:19.000Z (over 3 years ago)
Last Synced: 2025-06-05T05:42:22.896Z (about 1 year ago)
Topics: control-systems, humanoid-robot, matlab, mechanical-engineering, optimization, robotics, simulink
Language: MATLAB
Homepage:
Size: 4.35 MB
Stars: 0
Watchers: 0
Forks: 0
Open Issues: 0
Metadata Files:
- Readme: README.md
- License: LICENSE

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README

Humanoid Robot Squat Analysis

## About The Project

The 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.
The torso of the robot is considered as a vertical distruibuted force of 300N.

A _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.

An _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.

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## Getting Started

Clone the repo on your device or donwload it in a folder.

### Prerequisites

You must have installed:

* Matlab 2021 or newer
* Simulink
* Simscape Multibody Plug-in

## Usage
In order to make it work and get the actions at the joints, you must follow the following steps:
1. Open Robot_model.slx;
2. Open and Run the first section of plots.mlx;
3. Run Robot_model.slx;
4. Run the second section of plots.mlx

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## Roadmap

- [x] Implement symmetric squat movement of one leg
- [x] Implement symmetric squat movement of both legs
- [x] Plot reaction forces at the joints
- [x] Implement asymmetric squat
- [x] Add variable upper weight and spherical joints
- [x] Simulate and retrieve motors' torques

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## Results
The plots of the reaction forces at the joints for symmetric and asymmetric squats are presented.

_Symmetric Squat Plots_