MATLAB: Feeding knees angle to the walking robot

Question

Hi,

I'm doing gait analysis for human-being.

I watched a great video about how to build a walking robot and observe many metrics when the robot walking in this following link:https://www.mathworks.com/videos/matlab-and-simulink-robotics-arena-walking-robots-part-1-modeling-and-simulation-1505941655157.html

However, my target is in an opposite aspect. I recored the real knees degree data when people walking. Now I want to feed these degree data into the robot then observe how the robot walks. Is this possible?

Answer 1

Thanks for tagging this post with roboticsarena so we got that notification! Much appreciated.

In Simscape Multibody, you can choose to actuate joints either with torques or with motion profiles. I am guessing you want to put in a motion profile from the real knee angle data. See the "Motion Input" section below.

https://www.mathworks.com/help/physmod/sm/ug/joint-actuation.html

Or, this example:

https://www.mathworks.com/help/physmod/sm/ug/prescribe-joint-motion-in-four-bar-model.html

- Sebastian