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

Figure 1

Schematic diagram of the quadruped robot composed of four Jansen linkage mechanisms and five gears which are driven by only one input attached to the bright yellow gear. The red, sky blue, green, and purple represent left-fore, right-fore, left-back, and right-back, respectively.

(a) 2D

(b) 3D