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

Autor: Shunsuke Nansai, Rajesh Elara Mohan, Ning Tan, Nicolas Rojas, Masami Iwase
Jazyk: angličtina
Rok vydání: 2015
Předmět:
Zdroj: Journal of Robotics, Vol 2015 (2015)
Druh dokumentu: article
ISSN: 1687-9600
1687-9619
DOI: 10.1155/2015/315673
Popis: The Theo Jansen mechanism is gaining widespread popularity among the legged robotics community due to its scalable design, energy efficiency, low payload-to-machine-load ratio, bioinspired locomotion, and deterministic foot trajectory. In this paper, we perform for the first time the dynamic modeling and analysis on a four-legged robot driven by a single actuator and composed of Theo Jansen mechanisms. The projection method is applied to derive the equations of motion of this complex mechanical system and a position control strategy based on energy is proposed. Numerical simulations validate the efficacy of the designed controller, thus setting a theoretical basis for further investigations on Theo Jansen based quadruped robots.
Databáze: Directory of Open Access Journals
Externí odkaz: