Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator
Joint Authors
Nansai, Shunsuke
Mohan, Rajesh Elara
Tan, Ning
Rojas, Nicolas
Iwase, Masami
Source
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-05-19
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Nansai, Shunsuke& Mohan, Rajesh Elara& Tan, Ning& Rojas, Nicolas& 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،Vol. 2015, no. 2015, pp.1-15.
https://search.emarefa.net/detail/BIM-1070020
Modern Language Association (MLA)
Nansai, Shunsuke…[et al.]. Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator. Journal of Robotics No. 2015 (2015), pp.1-15.
https://search.emarefa.net/detail/BIM-1070020
American Medical Association (AMA)
Nansai, Shunsuke& Mohan, Rajesh Elara& Tan, Ning& Rojas, Nicolas& Iwase, Masami. Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator. Journal of Robotics. 2015. Vol. 2015, no. 2015, pp.1-15.
https://search.emarefa.net/detail/BIM-1070020
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1070020