Physics / Engineering

Quadruped terrain lab

Explore four-legged locomotion, terrain, grip and balance with an articulated 3D robot.

Actual application image

What happens

Try steps and a sideways push. W/S sets forward/reverse, A/D sets turning; Space stops the commands. The rigid chassis responds to foot forces and friction. Legs have no separate inertia; finite soles support bounded moments. This is a reduced-order teaching model.

Equations used in the module

Equations
m a = ΣFfoot + m g
Fnormal ≥ 0; |Ftangent| ≤ μ Fnormal
|Msole| ≤ footprint radius × Fnormal

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