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.

A simple demo of this simulation is shown below: symbolic demo.mp4

Simple Model in Simscape

Pybullet Simulator

The SLIP controller was implemented in Pybullet simulator. A demo is shown below: Pybullet Demo.mp4

Isaac Sim Simulator

The SLIP controller was implemented in Isaac Sim for better accuracy. A demo of this simulation is shown below: Isaac Demo.mp4