3D Quadruped Robot Gait & Inverse Kinematics Simulation in MATLAB

Description:
This package provides a complete quadruped robot simulation in MATLAB, including gait generation, inverse kinematics (IK), trajectory planning, and 3D visualization. Perfect for students, researchers, and developers working on legged robots, locomotion control, and robotics education.

You’ll get ready-to-run MATLAB code that computes foot trajectories, joint angles, world positions, and visualizes the robot walking with customizable gait parameters.

📦 What’s Included

• MATLAB functions for:

  • quadruped_params.m → Define robot body/leg parameters

  • quadruped_gait.m → Compute gait cycle (stance & swing phases)

  • quadruped_ik.m → Solve inverse kinematics for each leg

  • quadruped_plot.m → 3D visualization of body, legs, feet, and ground

  • quadruped_utils.m → Export animations as GIFs

🔬 Key Features

✅ Full quadruped body dynamics with configurable parameters
✅ Stance & swing phase foot trajectory generation
✅ 2-DOF leg inverse kinematics solver
✅ Crisp 3D visualization (with ground & robot body)
✅ Exportable animation to GIF for demos
✅ Ready for academic reports & presentations

🎓 Perfect For

• Robotics students & researchers

• Gait analysis projects

• Legged robot locomotion simulations

• MATLAB coursework or thesis projects

⚡ How to Use

1. Open quadruped_params.m to set body/leg/gait parameters.

2. Run the main simulation script (main.m).

3. Visualize the quadruped robot in 3D.

4. Export animations or equations for your report.

💡 Why Choose This?

Unlike generic code snippets, this package is research-grade, with professional documentation, labeled diagrams, and high-quality equations ready for academic use.