simulink双足步行仿真建模

参数化建模

%%Body Parameters

%%单位
%% general parameters
height = 175;%%cm
density = 1.06*10^3;


%% Torso_a
torso_ax = 20;
torso_ay = 35;
torso_az = 20;
torso_offset_az = -2;


%% Torso_b
torso_bx = torso_ax;
torso_by = torso_ay/2;
torso_bz = torso_az/2;
torso_offset_bz = torso_offset_az;
%% Joit
joint_radius = 0.043*height;


%% Upper_Leg
Upper_leg_radius = 0.043*height;
Upper_leg_length = 0.232*height;




%% Lower Leg
Lower_leg_radius = 0.033*height;
Lower_leg_length = 0.247*height;


%% Foot
foot_x = 0.147*height;
foot_y = 0.056*height;
foot_z = 0.045*height;
foot_offset = -2;