Kinematics simulation by using ODE and MATLAB

This paper describes the kinematics of physical model simulation by using the open dynamics engine (ODE) and matrix based simulation by using MATLAB. In order to confirm the simulation results of the physical model, we derive a mathematical model and perform simulation by using both ODE and MATLAB. Independent simulation model-building and simulation by using both ODE and MATLAB can avoid careless errors. We used this approach to build biped robot with 10 degrees of freedom, and confirmed the validity of the physical simulations by both ODE and MATLAB simulations.