Simulation of Jumping robot
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.
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
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: