Biped simulation with Robotics Toolbox for MATLAB

摘要

This paper focuses on using the Robotics Toolbox in MATLAB for simulating the motion and environmental physics of a two-legged humanoid robot. The said software is built primarily for single serial-link manipulators in a free environment without holonomic constraints. Methods for additional functionality required for a biped interacting with an environment and control schemes for simulation are presented here.