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

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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:	02 Jul 2019 20:18
URI:	http://sro.sussex.ac.uk/id/eprint/59869

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