Running Robot Model in Simscape
Updated 17 Apr 2021
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 .
MATLAB Release Compatibility
Platform CompatibilityWindows macOS Linux
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