Research Article
Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator
Table 1
Physical parameters of the Theo Jansen linkage mechanism (
).
| Parameter | Notation | Value |
| Inertia moment [kg·m2] | | |
| Mass [kg] | | |
| Viscous friction coefficient [Nm·s/rad] | | |
| Height of link-1 [m] | | 0.02316 |
| Length of link [m] | | |
| Length from extremity to gravity center [m] | | |
| Length from gravity center to end [m] | | |
| | | | Length from gravity center to corner of triangle [m] | | | | | |
| | | | Central angle of triangle [m] | | | | | |
|
|