Name
Title | ||
|---|---|---|
Dynamic modeling and nonlinear position control of a quadruped robot with theo jansen linkage mechanisms and a single actuator |
Abstract | ||
|---|---|---|
AbstractThe 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. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1155/2015/315673 | Periodicals |
Field | DocType | Volume |
Control theory,Nonlinear system,Simulation,Computer science,Artificial intelligence,System dynamics,Robot,Robotics,Trajectory,Mechanical system,Actuator | Journal | 2015 |
Issue | ISSN | Citations |
1 | 1687-9600 | 0 |
PageRank | References | Authors |
0.34 | 22 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Shunsuke Nansai | 1 | 20 | 4.00 |
| Rajesh Elara Mohan | 2 | 89 | 42.67 |
| Ning Tan | 3 | 2 | 2.54 |
| Nicolás Rojas | 4 | 47 | 15.56 |
| Masami Iwase | 5 | 42 | 16.27 |