Development of Graphical User Interface (GUI) for Recursive Dynamics Simulator (ReDySim) for Legged Systems

The recursive dynamics simulator (ReDySim) is a dynamic analysis instrument for multibody systems. In addition to its high computational speed, it is also freely accessible. ReDySim is based on the computationally efficient and numerically stable decoupled natural orthogonal complement (DeNOC) dynamic formulation. This paper concentrates on the graphical user interface (GUI) development of ReDySim for legged systems. The GUI is created with MATLAB App-Designer and requires user input to conduct the analysis. Initially, it was developed using only MATLAB codes. Due to the difficulties in modifying model parameters, the need for an intuitive graphical user interface arose. The GUI was created in a user-friendly environment by incorporating user feedback from numerous academic institutions. In this paper, the newly developed version of ReDySim GUI is discussed.