This repository contains a Simscape model of a quadrupeded robot able to walk on flat and inclined terrain, with a environment that presents different obstacles, and the posibility of open-loop or ...

Abstract: This letter presents a robust backstepping type controller formulation for the position tracking control of engineering systems actuated via electro-hydraulic actuators (EHAs). Specifically, ...

Abstract: This study compares the torque profiles of the hip, knee and ankle during the swing phase of gait in ten healthy subjects using a MATLAB Simscape biomechanical model. Anthropometric ...