A 12-legged robot model, inspired by Theo Jansens's Strandbeest, implemented in Julia using RigidBodyDynamics.jl and RigidBodySim.jl.

Included:

• data/Strandbeest.urdf: the URDF file with the kinematic and inertial parameters of the robot. Originally developed as part of the Drake project.
• notebooks/: Jupyter notebooks demonstrating the construction and simulation of the robot in Julia
• src/StrandbeestRobot.jl: the StrandbeestRobot Julia module, containing some helper functions for working with this particular mechanism.

Examples

Visualization powered by MeshCat.jl and MeshCatMechanisms.jl.

Walking on Flat Ground

(click for video)

Walking Passively Downhill

(click for video)