How to Establish a path trajectory for a quadruped robot in simscape multibody?

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Nayla
Nayla 2023-1-12
回答： Steve Miller 2023-2-12
Hi there,
i have created a simplified quadruped model in simscape multibody and now would like it to follow a half-circle path or a curve. This in such way that the legs and the torso of the robot are walking accordingly while following the trajectory. I was thinking about modelling a curved solid and create a contact with the legs and the floor. Even though I was not able to model a curved path, i do think that this won't have made the robot automatically follow the path.
Which tool can i use to make the quadruped robot achieve this?
Thanks in advance.

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Steve Miller
Steve Miller 2023-2-12
If the outer legs are taking larger steps than the inside legs, it may follow a curve even without a controller. If you want it to follow a specific path, a controller will be required to help it take the right sized steps. The ratio in size of (outer step/inner step) will depend a bit on how sharp the curve is and the friction parameters, as well as the design of the robot and its gait.
--Steve

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