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Running Robot Model in Simscape

version 21.1.2.3 (7.46 MB) by Steve Miller
Quadruped robot model with electrical actuation, including gait analysis and design workflow.

2.8K Downloads

Updated 17 Apr 2021

From GitHub

View license on GitHub

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/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 model is based on the example covered in the paper "Tool-Supported Mechatronic System Design"
http://ieeexplore.ieee.org/document/4758205/?reload=true

Try this free, hands-on tutorial to learn how to use Simscape:
https://www.mathworks.com/learn/tutorials/simscape-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/

Cite As

Steve Miller (2021). Running Robot Model in Simscape (https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/21.1.2.3), GitHub. Retrieved .

MATLAB Release Compatibility
Created with R2021a
Compatible with R2016b to R2021a
Platform Compatibility
Windows macOS Linux
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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.