Dynamic modeling and nonlinear position control of a quadruped robot with Theo Jansen linkage mechanisms and a single actuator
File(s)
Published version
Author(s)
Nansai, S
Mohan, RE
Tan, N
Rojas, N
Iwase, M
Type
Journal Article
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.
Date Issued
2015-05-19
Date Acceptance
2015-04-15
Citation
Journal of Robotics, 2015, 2015
ISSN
1687-9619
Publisher
Hindawi Publishing Corporation
Journal / Book Title
Journal of Robotics
Volume
2015
Copyright Statement
© 2015 The Authors. This is an open access article distributed under the Creative Commons Attribution License (https://creativecommons.org/licenses/by/3.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
License URL
Publication Status
Published
Article Number
315673