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.

Visualization powered by MeshCat.jl and MeshCatMechanisms.jl.

(click for video)

(click for video)