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Journal of Robotics
Volume 2015 (2015), Article ID 315673, 15 pages
Research Article

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

1Tokyo Denki University, 5 Senjuasahicho, Adachi, Tokyo 120-8551, Japan
2Singapore University of Technology and Design, 8 Somapah Road, Singapore 487372
3Yale University, New Haven, CT 06520, USA

Received 10 February 2015; Accepted 15 April 2015

Academic Editor: Shahram Payandeh

Copyright © 2015 Shunsuke Nansai et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The Theo Jansen mechanism is gaining widespread popularity among the legged robotics community due to its scalable design, energy efficiency, low payload-to-machine-load ratio, bioinspired locomotion, and deterministic foot trajectory. In this paper, we perform for the first time the dynamic modeling and analysis on a four-legged robot driven by a single actuator and composed of Theo Jansen mechanisms. The projection method is applied to derive the equations of motion of this complex mechanical system and a position control strategy based on energy is proposed. Numerical simulations validate the efficacy of the designed controller, thus setting a theoretical basis for further investigations on Theo Jansen based quadruped robots.