Here you can find a 2D simulation framework built in Matlab and Mathematica for simulating a quadruped robot. The model and the design parameters correspond to those of our quadruped robot Laelaps. You can find the software here.
Deriving and solving the Equations of Motion
The equations of motion (EoM) were derived using the Lagrangian formulation as described in "Quadruped_model_2_segmented_springy_legs.nb" written in Wolfram Mathematica. Matlab is used to solve the EoM and to control the dynamic model.
Software environment
The user can write a new controller to make the robot move or modify any other simulation parameter. Read the README file for more information. A default setup is included that makes the robot move by simply running the main.m file.