Dynamic modeling and nonlinear position control of a quadruped robot with Theo Jansen linkage mechanisms and a single actuator

Nansai, Shunsuke, Mohan, Rajesh Elara, Tan, Ning, Rojas, Nicolas and Iwase, Masami (2015) Dynamic modeling and nonlinear position control of a quadruped robot with Theo Jansen linkage mechanisms and a single actuator. Journal of Robotics, 2015. pp. 1-15. ISSN 1687-9600

[img] PDF - Published Version
Available under License Creative Commons Attribution.

Download (2MB)

Abstract

The Theo Jansen mechanism is gaining widespread popularity among the legged robotics community due to its scalable design, energy efficiency, low payload-to-machine-load ratio, bioinspired locomotion, and deterministic foot trajectory. In this paper, we perform for the first time the dynamic modeling and analysis on a four-legged robot driven by a single actuator and composed of Theo Jansen mechanisms. The projection method is applied to derive the equations of motion of this complex mechanical system and a position control strategy based on energy is proposed. Numerical simulations validate the efficacy of the designed controller, thus setting a theoretical basis for further investigations on Theo Jansen based quadruped robots.

Item Type: Article
Schools and Departments: School of Engineering and Informatics > Engineering and Design
Depositing User: Nicolas Rojas
Date Deposited: 07 Mar 2016 09:35
Last Modified: 17 Mar 2017 09:07
URI: http://sro.sussex.ac.uk/id/eprint/59869

View download statistics for this item

📧 Request an update