1、前记：出于好奇和学习目的，主要参考了知乎：/p/290641155，并使用MATLAB进行双足机器人建模。但还是和刘勋师兄说的一样，不建议利用机器人工具箱，出图的速度慢得可怕！
2、代码：
%% creat walking robot modelclear all%leg length L1=0.15;L2=0.25;%form a leg leg=SerialLink([0, 0, 0, pi/2; 0, 0, L1, 0; 0, 0, -L2, 0 ],...'name', 'leg', 'base', eye(4,4),'tool', ...trotz(-pi/2)*trotx(-pi/2)*trotz(-pi/2),'offset', [pi/2 0 -pi/2]);%% diplay the leg %body wide and lengthW = 0.2; L = 0.2;%form a bodylegs(1) = SerialLink(leg, 'name', 'leg1','base', transl(0, 0, -0.05)*trotz(pi/2));legs(2) = SerialLink(leg, 'name', '.', 'base', transl(0, -W, -0.05)*trotz(pi/2));% create a fixed size axis for the robot, and set z positive downwardclf;axis([-0.3 0.25 -0.6 0.4 -0.19 0.45]); set(gca,'Zdir', 'reverse')hold onlegs(1).plot([0 pi/3 -pi/2.5],'nobase','noshadow','nowrist');%leg poselegs(2).plot([0 pi/1.8 -pi/2.5],'nobase','noshadow','nowrist');%plot bodyplotcube([0.1 0.2 -0.12],[ -0.05 -0.2 0],1,[1 1 0]);%% simulate movingfor i=0.01:0.02:0.4legs(1).plot([0 pi/3+i -pi/2.5-i],'nobase','noshadow');%leg poselegs(2).plot([0 pi/1.8-i -pi/2.5+i],'nobase','noshadow');end
plotcube画方块函数：
function plotcube(varargin)% PLOTCUBE - Display a 3D-cube in the current axes%% PLOTCUBE(EDGES,ORIGIN,ALPHA,COLOR) displays a 3D-cube in the current axes% with the following properties:% * EDGES : 3-elements vector that defines the length of cube edges% * ORIGIN: 3-elements vector that defines the start point of the cube% * ALPHA : scalar that defines the transparency of the cube faces (from 0% to 1)% * COLOR : 3-elements vector that defines the faces color of the cube%% Example:% >> plotcube([5 5 5],[ 2 2 2],.8,[1 0 0]);% >> plotcube([5 5 5],[10 10 10],.8,[0 1 0]);% >> plotcube([5 5 5],[20 20 20],.8,[0 0 1]);%% plotcube函数 长宽高 三维空间起点 颜色属性% Default input argumentsinArgs = { ...[10 56 100] , ... % Default edge sizes (x,y and z)[10 10 10] , ... % Default coordinates of the origin point of the cube.7, ... % Default alpha value for the cube's faces[1 0 0] ... % Default Color for the cube};% Replace default input arguments by input valuesinArgs(1:nargin) = varargin;% Create all variables[edges,origin,alpha,clr] = deal(inArgs{:});XYZ = { ...[0 0 0 0] [0 0 1 1] [0 1 1 0] ; ...[1 1 1 1] [0 0 1 1] [0 1 1 0] ; ...[0 1 1 0] [0 0 0 0] [0 0 1 1] ; ...[0 1 1 0] [1 1 1 1] [0 0 1 1] ; ...[0 1 1 0] [0 0 1 1] [0 0 0 0] ; ...[0 1 1 0] [0 0 1 1] [1 1 1 1] ...};XYZ = mat2cell(...cellfun( @(x,y,z) x*y+z , ...XYZ , ...repmat(mat2cell(edges,1,[1 1 1]),6,1) , ...repmat(mat2cell(origin,1,[1 1 1]),6,1) , ...'UniformOutput',false), ...6,[1 1 1]);cellfun(@patch,XYZ{1},XYZ{2},XYZ{3},...repmat({clr},6,1),...repmat({'FaceAlpha'},6,1),...repmat({alpha},6,1)...);% view(3);
结果：
接下来感受下动画出图的可怕，若要实现身体前移可能还需要研究身体（方块）移动与双足运动的规律进行对应plot更新。
完全没有使用Simscape搭建的双足机器人移动流畅，如下，与地面接触身体移动：
simscape参考demo:
/help/reinforcement-learning/ug/train-biped-robot-to-walk-using-reinforcement-learning-agents.html?searchHighlight=Biped%20robot&s_tid=srchtitle
/support/search.html/videos/matlab-and-simulink-robotics-arena-walking-robots-pattern-generation-1546434170253.html?fq=asset_type_name:video%20category:mpc/index&page=1
/matlabcentral/fileexchange/64227-matlab-and-simulink-robotics-arena-walking-robot
/support/search.html/videos/model-based-control-of-humanoid-walking-1574399243682.html?fq=asset_type_name:video%20category:physmod/sm/index&page=1
