I have a preliminary design for a legged robot that uses compliant elements in the legs and in parallel with the motors for energy recovery during impact as well as a pair of flywheels on the front and back that will oscillate back and forth to generate angular momentum. I'd like to create a dynamic simulation of this robot in order to be able to test a few control strategies before I build a real model. What simulation package should I be using and why?
I have heard good things about MSC Adams, namely that it is slow to learn, but has a lot of capability, including integration with matlab and simulink. I have also heard about the simmechanics toolbox in matlab, which would be nice to use since I already am decent with CAD and know the matlab language. I am not yet familiar with simulink, but have used Labview before.