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Running Robot Model in Simscape

version (6.68 MB) by Steve Miller
Quadruped robot model with electrical actuation, including gait analysis and design workflow.


Updated 23 Jun 2020

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“

Please read the README.txt file to get started.

Use the download button to download files compatible with the latest release of MATLAB.
Use the links below to download files compatible with earlier releases of MATLAB.

For R2019b:
For R2019a:
For R2018b:
For R2018a:
For R2017b:
For R2017a:
For R2016b:

This model is based on the example covered in the paper "Tool-Supported Mechatronic System Design"

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

Learn more about MathWorks Simscape Products:

Cite As

Steve Miller (2020). Running Robot Model in Simscape (, GitHub. Retrieved .

Comments and Ratings (19)

@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?

Ranbao Deng

Ye Xie

zp qiu

could you please send the file version which is compatible with matlab 2016a?
Thank you.


xiang WANG

Can we have a discussion about that? I have recently implemented this control strategy in 2D environment but failed in 3D environment. @Shuo Yang

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!

Shuo Yang

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:

xiang WANG

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

Steve Miller

@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

Yang Meng


See release notes for this release on GitHub:

See release notes for this release on GitHub:

Connected this repository to GitHub

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

Added R19a version.

Added R18b version.

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

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

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

Added R2016b and R2017b versions.

MATLAB Release Compatibility
Created with R2020a
Compatible with any release
Platform Compatibility
Windows macOS Linux