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

<div>Time evolutions of the values of Lyapunov’s function <svg height="8.80314pt" id="M241" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -8.59674 9.46864 8.80314" width="9.46864pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M735 650H491L482 618L516 614C568 608 571 595 541 535L299 115H297L196 559C187 600 195 608 238 614L265 618L275 650H26L18 618C79 611 98 605 115 527L234 -9H272C389 197 542 449 591 523C647 608 656 612 726 618L735 650Z" id="g50-87"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="747" vert-adv-y="747"></glyph.data></g></svg> and its differential <svg height="11.5564pt" id="M242" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -11.35 9.46864 11.5564" width="9.46864pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,7.881,-2.819)"><path d="M-167 575C-167 606 -190 630 -220 630C-248 630 -273 606 -273 575C-273 546 -248 521 -220 521C-190 521 -167 546 -167 575Z" id="g54-11"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="0" vert-adv-y="0"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M735 650H491L482 618L516 614C568 608 571 595 541 535L299 115H297L196 559C187 600 195 608 238 614L265 618L275 650H26L18 618C79 611 98 605 115 527L234 -9H272C389 197 542 449 591 523C647 608 656 612 726 618L735 650Z" id="g50-87"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="747" vert-adv-y="747"></glyph.data></g></svg>.</div>

Journal of Robotics

fig11

Figure 11

Figure 11: Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator 