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Dynamic modeling and nonlinear position control of a quadruped robot with Theo Jansen linkage mechanisms and a single actuator
journal contribution
posted on 2023-06-09, 00:28 authored by Shunsuke Nansai, Rajesh Elara Mohan, Ning Tan, Nicolas Rojas, Masami IwaseThe 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.
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Publication status
- Published
File Version
- Published version
Journal
Journal of RoboticsISSN
1687-9600Publisher
Hindawi Publishing CorporationExternal DOI
Volume
2015Page range
1-15Department affiliated with
- Engineering and Design Publications
Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2016-03-07First Open Access (FOA) Date
2016-03-07First Compliant Deposit (FCD) Date
2016-03-07Usage metrics
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