具有电动驱动的四足机器人模型研究（Simulink&Matlab代码）

set_param('sm_robot_run_4legs/Gait Phase','LinkStatus','none')
open_system('sm_robot_run_4legs/Gait Phase','force')
%% Contact Forces Between Feet and Floor
%
% Two methods are used for modeling the contact force between the foot and
% the floor.  One is used for the X-Y plane only, the other accommodates
% movement in any direction.  You can select the appropriate force for your
% test using a parameter in the leg subsystem mask.
%
% *Planar Contact Model*
%
% The planar variant of the contact force model assumes that the leg is
% moving in the positive global x direction and stays within the XY-plane.
% Simulink is used to model a spring-damper that connects the end of the
% leg to the floor at the exact location where it lands.  This
% spring-damper is deactivated when the foot leaves the floor.  This
% idealized form of a contact model is good for initial testing.
%
% <matlab:open_system('sm_robot_run_4legs');open_system('sm_robot_run_4legs/Leg%20RR/Contact%20Force%20Model/Planar','force'); Open Subsystem>
set_param('sm_robot_run_4legs/Leg RR/','popup_contact_model','Planar');
set_param('sm_robot_run_4legs/Leg RR','LinkStatus','none')
open_system('sm_robot_run_4legs/Leg RR/Contact Force Model/Planar','force')
%%
% *Six Degree of Freedom Contact Model*
%
% This variant of the contact force model assumes the end of the leg is a
% sphere and detects collision between the sphere and the surface of the
% floor. It models contact and friction force between the sphere and the
% plane.  It is valid for all six degrees of freedom.
%
% <matlab:open_system('sm_robot_run_4legs');open_system('sm_robot_run_4legs/Leg%20RR/Contact%20Force%20Model/SixDOF','force'); Open Subsystem>
set_param('sm_robot_run_4legs/Leg RR/','popup_contact_model','Six DOF');
open_system('sm_robot_run_4legs/Leg RR/Contact Force Model/SixDOF','force')
%% Simulation Results from Simscape Logging
%%
%
% The plot below shows the current drawn by the motor and supplied by the
% battery as the robot runs.
%
set_param('sm_robot_run_4legs/Leg RR/','popup_contact_model','Planar');
close_system('sm_robot_run_4legs/Leg RR/Contact Force Model/Planar')
sm_robot_run_4legs_plot1current;