How can I control the motion at the joints with an input function?

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景悦 2023-11-17

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回答： Divyanshu 2023-12-15

I need to control the movement of the joints in the following model to simulate a bipedal robot walking, and need to input the reinforcement learning algorithm that we have already done (which was originally demonstrated with a 2D minifigure). Now the model below can only swing its legs naturally, like a pendulum, how should I import the position and angle information of each frame calculated by the reinforcement learning algorithm into simscape?

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Answer 1

Divyanshu 2023-12-15

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Hi,

As per my understanding you are trying to import the position and angle information calculated by reinforcement learning algorithm into simscape.

A possible workaround can be:

Use 'From Workspace' block using which you can load data from base workspace into a Simulink Model.
Next, you can use 'Simulink-PS Converter' to convert the output of above block into a physical signal.

Please refer the following documentations for better understanding of the above blocks:

Hope it helps!