Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator

Figure 2

Schematic diagram of the Theo Jansen linkage mechanism with all parameters defined. The solid lines , , , , , are the links; the two blue triangular parts are treated as the mass components; the dashed lines connect the gravity center of the mass and the corners of the triangle parts.