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

Table 3

The lengths of links adopted for the Theo Jansen linkage mechanism of this study.

Link	Value (m)
	0.16218
	0.05417
	0.174425
	0.117645
	0.12567
	0.11754
	0.12671
	0.17974
	0.19161
	0.16169
	0.11967
	0.217995