Control the Balance of A Wheel-leg Biped
(Two Legged) Robot

The primary goal of the project is to design and control the balance of a two-legged biped robot. The design process involves creating a 3D model of the robot in Solidwork, which is a powerful 3D CAD software used in mechanical engineering. This 3D model must be designed to be realistic and accurately represent the physical characteristics of the robot, including its size, shape, and materials. Once the 3D model is complete, it is imported into Matlab's Simulink environment using the Simscape plugin. Simscape is a tool that allows for the modeling and simulation of physical systems, and the Simscape plugin enables the import of CAD models from Solidwork into Simulink. The existing code for the simulation in Simscape environment must be upgraded to ensure that the robot's balance can be controlled. This involves adding control algorithms to the code to allow for the robot to balance on its two legs. The control algorithms may be based on principles such as feedback control or adaptive control, depending on the specific requirements of the robot. Finally, the two linkages of the robot must be designed to be extended and retracted. This may involve adding actuators or other components to the robot to enable it to move its legs in a controlled manner. The kinematics of the system must be accurately modeled to ensure that the robot can move its legs in a way that allows it to maintain its balance. Overall, the project involves a combination of design, simulation, and control. By designing a realistic 3D model of the robot, importing it into Matlab's Simulink environment, and upgrading the existing code with control algorithms and extended/retracted linkages, it is possible to create a two-legged biped robot that can balance on its two legs and move in a controlled manner.