Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator. (19th May 2015)

• Record Type: Journal Article
• Authors: Nansai, Shunsuke; Mohan, Rajesh Elara; Tan, Ning; Rojas, Nicolas; Iwase, Masami
• Other Names: Payandeh Shahram Academic Editor.
• Is Part Of: Journal of robotics. Volume 2015(2015)
• Publication Date: 2015-05-19
• Subjects: Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1155/2015/315673
• Languages: English
• ISSNs: 1687-9600

Abstract

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.