Running Robot Model in Simscape

Quadruped robot model with electrical actuation, including gait analysis and design workflow.

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Updated Fri, 14 Oct 2022 05:44:15 +0000

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Models a quadruped robot with electrical actuation. The robot runs with trotting gait on four legs. Supporting models explain and automate the design process for the limbs, joint angle trajectories, and electrical system. This model is similar to quadruped robots such as those seen in the video, “Introducing Spot“ https://www.youtube.com/watch?v=M8YjvHYbZ9w
Please read the README.md file to get started.
Use the "Download" button above to get files compatible with the latest release of MATLAB.
Use the links below to get files compatible with earlier releases of MATLAB.
This multibody dynamics model is based on the example covered in the paper "Tool-Supported Mechatronic System Design"
http://ieeexplore.ieee.org/document/4758205/?reload=true
Try these free, hands-on tutorials to learn how to use Simscape:
Find other Simscape examples by searching posts for the keyword "physical modeling"
Learn more about MathWorks Simscape Products:

Cite As

Steve Miller (2023). Running Robot Model in Simscape (https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/22.2.2.5), GitHub. Retrieved .

MATLAB Release Compatibility
Created with R2022b
Compatible with R2016b to R2022b
Platform Compatibility
Windows macOS Linux

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Version Published Release Notes
22.2.2.5

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/22.2.2.5

22.1.2.5

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/22.1.2.5

21.2.2.4

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/21.2.2.4

21.1.2.3

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/21.1.2.3

20.2.2.2

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/20.2.2.2

20.1.2.1

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/20.1.2.1

19.2.2.0

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/19.2.2.0

1.5.0.2

Connected this repository to GitHub

1.5.0.1

Added links to download files compatible with earlier releases of MATLAB.

1.5.0.0

Added R19a version.

1.4.0.1

Added R18b version.

1.4.0.0

Updated Contact Force Library in all versions to use v4.1.

1.3.0.0

Added R2018a version, which uses Simscape Multibody Contact Force Library v4.0.

1.2.0.0

Updating contact force library only, no changes to running robot example.

1.1.0.0

Added R2016b and R2017b versions.

1.0.0.0

To view or report issues in this GitHub add-on, visit the GitHub Repository.
To view or report issues in this GitHub add-on, visit the GitHub Repository.