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

Abstract

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.

Application of Support Vector Machine in Designing Theo Jansen Linkages

“…Using our human vision to inspect Figure 5a, the orbits with identity numbers 7,8,15,16,23,24,30,31,44,50,51,52, 57, 58, and 59 are lemniscates possessing self-intersection, not acceptable for legged motion. When using the image processing to identify the self-intersection, it is achieved by the morphological erosion operation that is filling the area enclosed by the orbit, eroding the filled area with a three-by-three square structuring element, and counting the number of connected objects, as shown in Figure 9.…”

“…Nansai [6] employed the projection method, a technique dealing with constraint forces to analyze the dynamics of TJLs. Later on, he also investigated the position and velocity control of TJLs [7,8]. So far, all of academic works that are relevant to TJLs focus on the analysis of kinematics, dynamics, and controls.…”

The Design and Building of a Hexapod Robot with Biomimetic Legs

“…This soon drew the attention of robotics researchers [20][21][22][23][24][25]. The TJL adopted in this paper is an eight-bar linkage.…”