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 from GitHub" 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.
For R2020b: https://github.com/mathworks/Simscape-Robot-4Legs/archive/126.96.36.199.zip
For R2020a: https://github.com/mathworks/Simscape-Robot-4Legs/archive/188.8.131.52.zip
For R2019b: https://github.com/mathworks/Simscape-Robot-4Legs/archive/184.108.40.206.zip
For R2019a: https://github.com/mathworks/Simscape-Robot-4Legs/archive/220.127.116.11.zip
For R2018b: https://github.com/mathworks/Simscape-Robot-4Legs/archive/18.104.22.168.zip
For R2018a: https://github.com/mathworks/Simscape-Robot-4Legs/archive/22.214.171.124.zip
For R2017b: https://github.com/mathworks/Simscape-Robot-4Legs/archive/126.96.36.199.zip
For R2017a: https://github.com/mathworks/Simscape-Robot-4Legs/archive/188.8.131.52.zip
For R2016b: https://github.com/mathworks/Simscape-Robot-4Legs/archive/184.108.40.206.zip
This model is based on the example covered in the paper "Tool-Supported Mechatronic System Design"
Try this free, hands-on tutorial to learn how to use Simscape:
Find other Simscape examples by searching posts for the keyword "physical modeling"
Learn more about MathWorks Simscape Products:
Steve Miller (2021). Running Robot Model in Simscape (https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/220.127.116.11), GitHub. Retrieved .
@Shuo Yang , hey i saw your simulation, can you please explain some minute details about how to go about it? I have to work on the same simulation for my project. It will really be helpful. thank you.
Does this running robot has a PID controller?
could you please send the file version which is compatible with matlab 2016a?
Can we have a discussion about that? I have recently implemented this control strategy in 2D environment but failed in 3D environment. @Shuo Yang
I also used your contact model. And I implemented Marc Raibert's "Legged Robots that Balance" virtual leg placement strategy in two directions, so my robot can stably run in 3D environment. Thanks to your contact model!
Hi Steve, nice work! I just found your work this morning and I learned a lot.
I made a quadruped simulation as well. In some aspect better than yours, but some are not. If you are interested, check it out: https://github.com/paulyang1990/QuadrupedSim
Hello, Miller. I do not understand how to implement single-plane motion. Could you please give me some details about the "Body Constraints" module？Thank you!
sorry about that just now checked
@Rasmus Koefoed: That diagnostic indicates you do not have a required product. Which release are you using? elec_lib in R2018a opens Simscape Electronics. In R2018b it opens Simscape Electrical, which is the merge of Simscape Electrical and Simscape Power Systems.
I get the error: "Failed to load library 'elec_lib'" for multiple blocks. Seems Simscape Electrical has been changed, because i haven't been able to find a download that includes the "elec_lib" library
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