Single Leg Robot Simulations
#Robotics #Single_Leg_Project #Control
Several simulations have been conducted in different simulators:
- Verifying the numerical model obtained in here via symbolic simulation in MATLAB
- Testing a simple model of the leg using Simscape
- Simulating the whole system in Pybullet
- Simulating the system in Isaac Sim for more realistic results
Numerical Model in MATLAB
The dynamics of the system were derived here. MATLAB symbolic toolbox was used to convert the dynamics to .m functions. These functions take the current state of the system along with applied torques as input and simulate the system for one timestep. They can be used in a for loop can simulate the whole system. You can take a look at the simulation and the code behind it on Github.
A simple demo of this simulation is shown below:
Simple Model in Simscape
Pybullet Simulator
The SLIP controller was implemented in Pybullet simulator. A demo is shown below:
(#todo: add a note for the SLIP controller)
Isaac Sim Simulator
The SLIP controller was implemented in Isaac Sim for better accuracy. A demo of this simulation is shown below:
