Following repo contains a very basic Simulink model of a spider legged quadruped which is built and tested on MATLAB R2019b.
v1.0- Basic Model has correct kinematics and frames and basic walking.
Refined dynamics and control will be added later
Simscape Multibody simulation of a spider quadruped with 12 DOF
Run the startup_sm_ssci.m inside Libraries directory to initialise simscape multibody multiphysics library
After cloning run the Quadruped_1.slx file
Required Add ons in MATLAB R2019b are Simulink,Simscape,Simscape Multibody.
Dijkstra path planning and a map for it work on
Fastslam 2 for localisation
Currently this repo is not being built further, might make changes in future.