本代码包含Matlab和Simulink Robotics Arena“行走机器人”的所有文件。
This entry contains all the files for the “Walking Robots” episodes of the MATLAB and Simulink Robotics Arena.
包含行走机器人的Simscape模型，以及不同级别执行器细节的变体形式。
This entry contains Simscape models of a walking robot, including variants for different levels of actuator detail.
此外，您还能够找到一个优化的脚本，该脚本使用遗传算法（全局优化工具箱）寻找最佳行走轨迹，显示腿部的逆向运动学、位置控制和模型预测控制（MPC）的轨迹生成模型。
In addition, you will find an optimization script that uses a genetic algorithm (Global Optimization Toolbox) to find an optimal walking trajectory, as well as models showing leg inverse kinematics, position control, and trajectory generation with Model Predictive Control (MPC).
注意：最初的行走模型是基于MATLAB R2017a。
NOTE: The original walking models work with MATLAB R2017a and onwards.
然而，三维行走模型至少需要MATLAB R2018a ，并有额外的工具箱要求。
However, the 3D walking models require at least MATLAB R2018a and have additional toolbox requirements.
行走机器人的CAD模型可以在下面的网址找到：
The CAD model for the walking robot can be found at https://cad.onshape.com/documents/5fe92a55bb0eaf8b1a0ed6c2/w/58d64f59407477ebd625e16e/e/5295d0860871d6a3d51ca630
为方便起见，还提供了Simscape多体多物理库和Simscape多体接触力库的拷贝副本。
For convenience, local copies of the Simscape Multibody Multiphysics Library and Simscape Multibody Contact Forces Library have been included with this submission.
如果要安装这些工具库的最新版本，可以在下面找到它们：
If you would like to install the latest version of these libraries, you can find them below:
Simscape多体多物理库
- Simscape Multibody Multiphysics Library: https://www.mathworks.com/matlabcentral/fileexchange/37636-simscape-multibody-multiphysics-library
Simscape多体接触力库
- Simscape Multibody Contact Forces Library: https://www.mathworks.com/matlabcentral/fileexchange/47417-simscape-multibody-contact-forces-library
源代码下载地址：
http://page2.dfpan.com/fs/9l7c1j0202c1e229163/
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