Quadruped Robot with Path Planning in Simscape

This repository contains a Simscape model of a quadrupeded robot able to walk on flat and inclined terrain, with a environment that presents different obstacles, and the posibility of open-loop or interactive control system.

Usage:

Use Simscape 2024b version or newer to run the files

Run model from file: '/Workflows/complete_robot/complete_robot.slx'

Point cloud generation can be modified from: '/Workflows/complete_robot/Parameters_pntcld.m'

Get up to speed:

• Tutorial 1: Create gait('/Tutorials/01_Create_gait_depending_Bezier_curve/t01_one_leg.slx')

  The focus of this tutorial is set on implementing the gait function for one leg, that it moves realistically and is able to perform a step forward.

• Tutorial 2: Create sideways gait('/Tutorials/02_Create_sideways_gait/t02_one_leg_sideways_movement')

  The focus of this tutorial is set on implementing an additional sideways joint in a leg, that it is able to perform a lateral step which is later needed for turning and walking sideways.

• Tutorial 3: Combine legs and torso('/Tutorials/03_Put_legs_together_to_torso_and_walk/t03_cobine_legs_to_torso')

  This tutorial consists of building the first state of a walking four legged robot, based on the leg elements and the gait functions from tutorial 1 and 2.

• Tutorial 4: Combine different gaits('/Tutorials/04_Combine_Gaits_with_if_statements/t04_combine_gaits')

  In this tutorial several gaits need to be combined that the robot is able to perform different movements, depending on the control value which acts as an input.

• Tutorial 5: Balancing('/Tutorials/05_Write_A_Code_that_balances_out/t05_balancing')

  In this tutorial a balancing function has to be implemented to make the center of gravity of the robot remain in the center of the support feet so the robot is stable even in inclined terrain.

• Tutorial 6: Manual control('/Tutorials/06_Manual_Control/t06_manual_control')

  This tutorial addresses how to connect an external controller (e.g. from an Xbox) and use it to manually guide the robot.

Authors:

Andrés Eduardo Renjifo Restrepo, Sigi Deliallisi, Leonnard Renner, Isaac Charbel Tejeda de la Garza, Roman Podieiablonskii, Chien Yu Hua

Advisors:

Andreas Apostolatos, Jan Janse van Rensburg, Steve Miller