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