Running Robot Model in Simscape

Quadruped robot model with electrical actuation, including gait analysis and design workflow.

https://github.com/mathworks/Simscape-Robot-4Legs

版本 26.1.2.7 (7.8 MB)
4.4K 次下载
(13)
2026/5/16

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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.
For earlier MATLAB releases, use "Version History" tab above or these links:
This multibody dynamics model is based on the example covered in the paper "Tool-Supported Mechatronic System Design"
Learn how to use Simscape with
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引用格式

Steve Miller (2026). Running Robot Model in Simscape (https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/26.1.2.7), GitHub. 检索时间: .

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在 Help Center 和 MATLAB Answers 中查找有关 Simscape 的更多信息

一般信息

MATLAB 版本兼容性

  • 兼容 R2016b 到 R2026a 的版本

平台兼容性

  • Windows
  • macOS
  • Linux
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无法下载基于 GitHub 默认分支的版本

版本 已发布 发行说明
26.1.2.7

See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Robot-4Legs/releases/tag/26.1.2.7
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

要查看或报告此来自 GitHub 的附加功能中的问题，请访问其 GitHub 存储库。
要查看或报告此来自 GitHub 的附加功能中的问题，请访问其 GitHub 存储库。