Research Article
Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator
Table 4
Physical parameters of the gear system.
| Parameter | Notation | Value |
| | | | Inertia moment [kg·m2] | | | | | |
| | | | Mass [kg] | | | | | |
| | | | Viscous friction coefficient [Nm·s/rad] | | | | | |
| Center distance of gears [m] | | 0.1 |
| Length of frame [m] | | | | |
| Radius of gears [m] | | | | |
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