This robotic legged system is a system of rigid bodies connected through joints, in which some links constitute the legs of the system. It is a bipedal walking robotic simulation model which can move forward. Two legs interact with the ground.

1. Simulation Tools and Software for Mechatronics and Robotics
Term project Presentation
Haiming Gang
Guangzhou Li
Amber Yang
Aoyu Liu

2. 2. Mathematical equations
3. Transient states
1. Robotic legged system
4. Move in Simscape

3. P A R T
Robotic legged system

4. m1=m5=15kg
m2=m6=15kg
m3=m7=5kg
m3a=m3b=2.5kg
m7a=m7b=2.5kg
m4=10kg
L1=L5=70cm
L2=L6=100cm
L3=L7=11.5cm
L4=50cm
h=3cm

5. P A R T
Mathematical equations

6. Math Equations
1
23
Torque
Moment and ForceTrajectory

7. Force and Moment

8. Force and Moment

9. Torque

10. Trajectory

11. P A R T
Transient states

12. State-0 and State-1

13. State-2 and State-3

14. State-4 and State-5

15. State-6 and State-7

16. State-8 and State-9

17. Joint 1t Joint 2t
Joint 3t Joint 4t

18. P A R T
Move in Simscape

19. Demo

20. Thank You