Running Robot Model in Simscape

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

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.

You can also test the example in MATLAB Online.

Use the links below to get files compatible with earlier releases of MATLAB.

• For R2023b: Use the Download button above
• For R2023a: https://github.com/mathworks/Simscape-Robot-4Legs/archive/23.1.2.5.zip
• For R2022b: https://github.com/mathworks/Simscape-Robot-4Legs/archive/22.2.2.5.zip
• For R2022a: https://github.com/mathworks/Simscape-Robot-4Legs/archive/22.1.2.5.zip
• For R2021b: https://github.com/mathworks/Simscape-Robot-4Legs/archive/21.2.2.4.zip
• For R2021a: https://github.com/mathworks/Simscape-Robot-4Legs/archive/21.1.2.3.zip
• For R2020b: https://github.com/mathworks/Simscape-Robot-4Legs/archive/20.2.2.2.zip
• For R2020a: https://github.com/mathworks/Simscape-Robot-4Legs/archive/20.1.2.1.zip
• For R2019b: https://github.com/mathworks/Simscape-Robot-4Legs/archive/19.2.2.0.zip
• For R2019a: https://github.com/mathworks/Simscape-Robot-4Legs/archive/19.1.1.5.zip
• For R2018b: https://github.com/mathworks/Simscape-Robot-4Legs/archive/18.2.1.4.zip
• For R2018a: https://github.com/mathworks/Simscape-Robot-4Legs/archive/18.1.1.3.zip
• For R2017b: https://github.com/mathworks/Simscape-Robot-4Legs/archive/17.2.1.2.zip
• For R2017a: https://github.com/mathworks/Simscape-Robot-4Legs/archive/17.1.1.1.zip
• For R2016b: https://github.com/mathworks/Simscape-Robot-4Legs/archive/16.2.1.0.zip

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:

• https://www.mathworks.com/learn/tutorials/simscape-onramp.html
• https://www.mathworks.com/learn/tutorials/circuit-simulation-onramp.html

Find other Simscape examples by searching posts for the keyword "physical modeling"

https://www.mathworks.com/matlabcentral/fileexchange/?term=%22physical+modeling%22

Learn more about MathWorks Simscape Products:

https://www.mathworks.com/physical-modeling/