README.md

Quadruped robot simulation in Matlab

This is simulation of quadruped robot made in Matlab using Simulink library Simscape Multibody.

Blocks in Simulink inherit parameters from objects defined in quadruped_sim_param.mlx to make it easier to modify and duplicate Simulink modified blocks.

Requirements

Simulation requires following Matlab Toolboxes:

• Simulink Simscape;
• Simulink Simscape Multibody;

Changelog

0.2.2.1 - 25.04.2020

Changed

• Simscape Multibody Contact Forces Library now replaced with Simulink Simscape Multibody standard blocks for shorter simulation time.

0.2.2 - 24.04.2020

Added

• Motor inertia.
• Robot position measurement.

Changed

• Motor angular speed saturation takes value from script.
• motor block is now actuator.
• Moved blocks connected with Joint object to joint block.
• Updated leg blocks in quadruped.slx.

Fixed

• leg_sim_data_validation.mlx now runs.

0.2 - 20.04.2020

Added

• Leg joint blocks in Simulink inherit after LegJoint object.
• Motor angular speed saturation.
• Hip height in single_leg.mlx
• leg_sim_data_validation.mlx with:
  • Loop testing of different gearbox ratios.
  • Total power consumption of simulation.
  • Jump height.
  • Gearbox wear as integral of absolute value of angular acceleration with threshold value.
  • Comparison of different simulation results.

Changed

• controller block is now called motor.
• Planetary gearbox block is now simple gain.
• Logged data:
  • Angular speed of motor is now both in rpm and rad/s.
  • Added pure motor torque as an option.

Removed

• Simulink Simscape Driveline blocks.

0.1 - 18.04.2020

Added

• Leg bodies are now in objects.
• Jump sequence.
• Simulink Simscape Driveline planetary gearbox block.

Changed

• Logged data:
  • Angular speed of motor is now in rpm.
  • Added pure motor torque as an option.
  • Added current measurement as an option.

Fixed

• Single leg inverse kinematics

License

This simulation is published under GPL v3.0 license.