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Journal of Robotics
Volume 2015 (2015), Article ID 315673, 15 pages
http://dx.doi.org/10.1155/2015/315673
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.

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