The goal is to use simscape multibody to develop a simulation of jumping robot with 2 leg and a torso that sort of like kangaroo. The simulation of the robot should be able to do at least one jump.
engineering
Description
Simulation of Jumping robot
Objective
The goal is
to use simscape multibody to develop a simulation of jumping robot with 2 leg
and a torso that sort of like kangaroo. The simulation of the robot should be
able to do at least one jump.
Requirement
Each joint
should have motor and actuation. The
simulation should monitor the torque, angle and speed of each joint as well as
the position (x,y) of end effector (feet). You should be able to plot time vs.
angle, time vs. torque, possibly, time vs. position of (x,y).
You can use
any parameters or variables as long as they make sense, you may need some
calculation in order to do that. Parameters or variables such as objects
density, leg length and radius, damping coefficient, stiffness or some other
constants and so on. That would be good if you had an input file.
Check out
this video at https://www.youtube.com/watch?v=YGnOFMwj0cQ it has github file you can look at,
it is very useful.
I think the
same model for the robot should be fine unless you think otherwise, it looks
like this:
And by the way, I think you need use contact force to make
the robot jump out of ground. There are some notes from my professor:
