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

<div>Schematic diagram of the gear system with parameters defined. The black-margined gear represents the driving gear, and the other gears represent the driven gears. The driving gear 1 and the driving gear 2 rotate synchronously.</div>

Journal of Robotics

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Figure 4

Figure 4: Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator 