Simscape multibody simulation of a robot crossing an obstacle, with the effect of an elastic neck mass incorporated.
Described in the paper: "Compliance, Mass Distribution and Contact Forces in Cursorial and Scansorial Locomotion with Biorobotic Physical Models" (https://doi.org/10.1080/01691864.2021.1887760) More details at https://bio.is.mpg.de/
Left and right hand sides of the robot are separately driven by electric motors. The mass at the head of the robot is connected to the body via a torsion spring.
How to run: Run 'VariableInitialisation.m' to define the constants/geometry for the simulation When the simulation (Heads.slx) runs, the script 'ProcessOutput.m' is run.