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

Figure 5

The diagram of the included friction model. and represent the friction force that generates the toe and the velocity of the toe, respectively. Blue line and green line represent the kinetic friction force and the viscous friction force, respectively. The composition of these two friction forces represents the actual generated friction force .