The goal of the project is to get reaction forces and torques at the legs' joints of a humanoid robot while performing a symmetric and asymmetric squat. The torso of the robot is considered as a vertical distruibuted force of 300N.
A symmetric squat consists of a squat where all the leg's joints actuate at the same time and with the same displacement, thus keeping the torso parallel to the ground.
An asymmetric squat consists of a squat where all the leg's joints actuate at the same time but with different displacements, thus the torso won't be parallel to the ground anymore.
Clone the repo on your device or donwload it in a folder.
You must have installed:
- Matlab 2021 or newer
- Simulink
- Simscape Multibody Plug-in
In order to make it work and get the actions at the joints, you must follow the following steps:
- Open Robot_model.slx;
- Open and Run the first section of plots.mlx;
- Run Robot_model.slx;
- Run the second section of plots.mlx
- Implement symmetric squat movement of one leg
- Implement symmetric squat movement of both legs
- Plot reaction forces at the joints
- Implement asymmetric squat
- Add variable upper weight and spherical joints
- Simulate and retrieve motors' torques
The plots of the reaction forces at the joints for symmetric and asymmetric squats are presented.
Symmetric Squat Plots
Asymmetric Squat Plots
Simscape model
