Simulator Based on a Simple Biped System

This study shows the mathematical modeling and the development of the simulator of a simple biped system in Matlab c . We used specific libraries of Matlab c © that allowed us to simulate mechanical systems. In order to design the 3D model, we used SolidWorks c . The biped system is based on the structure of lower limb exoskeleton which is used in medical rehabilitation. We present the dynamic model calculation of the biped system through Euler-Lagrange method, and the stability analysis using Lyapunov theory. We present the implementation of a tracking control structure using a trajectory defined by fifth-order polynomials. The main consideration in this work is that the system is free of interaction with the environment, i.e. , we discussed the ideal case.