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Journal of Robotics
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Journal of Robotics
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2015
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Article
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Tab 2
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Research Article
Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator
Table 2
Kinematic parameters of the Theo Jansen linkage mechanism.
Parameter
Value
0.0606657 m
0.0844427 m
0.0882124 m
0.0739384 m
0.102658 m
0.126316 m
1.87097 rad
2.4248 rad
1.98742 rad
1.57408 rad
2.51629 rad
2.19281 rad