Running Robot Model in Simscape

Versione 25.2.2.7 (7,86 MB) da Steve Miller
Quadruped robot model with electrical actuation, including gait analysis and design workflow.
5.0
(13)
4,3K download
Aggiornato 24 dic 2025
Visualizza la licenza su 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" 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.
This multibody dynamics model is based on the example covered in the paper "Tool-Supported Mechatronic System Design"
Try these free, hands-on tutorials to learn how to use Simscape:
To learn more about modeling and simulation with Simscape, please visit:
Product Capabilities:

Cita come

Steve Miller (2026). Running Robot Model in Simscape (https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/25.2.2.7), GitHub. Recuperato .

Compatibilità della release di MATLAB
Creato con R2025b
Compatibile con R2016b fino a R2025b
Compatibilità della piattaforma
Windows macOS Linux
Tag Aggiungi tag

Libraries/CFL_Core/Libraries

Libraries/CFL_Core/Libraries/Extrusions

Libraries/CFL_Core/Scripts_Data

Libraries/CFL_Core/Scripts_Data/Doc

Libraries/CFL_Core/Test_Models

Overview/html

Scripts_Data

Workflows/Design

Workflows/Design/Overview/html

Workflows/Testing

Libraries

Libraries/CFL_Core/Libraries

Libraries/CFL_Core/Test_Models

Workflows/Design

Libraries/CFL_Core/Libraries/Help

Overview

Workflows/Design/Overview

Le versioni che utilizzano il ramo predefinito di GitHub non possono essere scaricate

Versione Pubblicato Note della release
25.2.2.7

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/25.2.2.7
25.1.2.7

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/25.1.2.7
24.2.2.7

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/24.2.2.7
24.1.2.7

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/24.1.2.7
23.2.2.5

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/23.2.2.5
23.1.2.5

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/23.1.2.5
22.2.2.5

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/22.2.2.5
22.1.2.5

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/22.1.2.5
21.2.2.4

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/21.2.2.4
21.1.2.3

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/21.1.2.3
20.2.2.2

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/20.2.2.2
20.1.2.1

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/20.1.2.1
19.2.2.0

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/19.2.2.0
19.1.1.5

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/19.1.1.5
18.2.1.4

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/18.2.1.4
18.1.1.3

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/18.1.1.3
17.2.1.2

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/17.2.1.2
17.1.1.1

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/17.1.1.1
16.2.1.0

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/16.2.1.0
1.5.0.2

Connected this repository to GitHub
1.5.0.1

Added links to download files compatible with earlier releases of MATLAB.
1.5.0.0

Added R19a version.
1.4.0.1

Added R18b version.
1.4.0.0

Updated Contact Force Library in all versions to use v4.1.
1.3.0.0

Added R2018a version, which uses Simscape Multibody Contact Force Library v4.0.
1.2.0.0

Updating contact force library only, no changes to running robot example.
1.1.0.0

Added R2016b and R2017b versions.
1.0.0.0

Per visualizzare o segnalare problemi su questo componente aggiuntivo di GitHub, visita GitHub Repository.
Per visualizzare o segnalare problemi su questo componente aggiuntivo di GitHub, visita GitHub Repository.