Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator
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 modelin...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2015-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2015/315673 |
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| _version_ | 1832552396903940096 |
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| author | Shunsuke Nansai Rajesh Elara Mohan Ning Tan Nicolas Rojas Masami Iwase |
| author_facet | Shunsuke Nansai Rajesh Elara Mohan Ning Tan Nicolas Rojas Masami Iwase |
| author_sort | Shunsuke Nansai |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-d85ad49377594f53aecec05cae8ea64a |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-d85ad49377594f53aecec05cae8ea64a2025-02-03T05:58:48ZengWileyJournal of Robotics1687-96001687-96192015-01-01201510.1155/2015/315673315673Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single ActuatorShunsuke Nansai0Rajesh Elara Mohan1Ning Tan2Nicolas Rojas3Masami Iwase4Tokyo Denki University, 5 Senjuasahicho, Adachi, Tokyo 120-8551, JapanSingapore University of Technology and Design, 8 Somapah Road, 487372, SingaporeSingapore University of Technology and Design, 8 Somapah Road, 487372, SingaporeYale University, New Haven, CT 06520, USATokyo Denki University, 5 Senjuasahicho, Adachi, Tokyo 120-8551, JapanThe 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.http://dx.doi.org/10.1155/2015/315673 |
| spellingShingle | Shunsuke Nansai Rajesh Elara Mohan Ning Tan Nicolas Rojas Masami Iwase Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator Journal of Robotics |
| title | Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator |
| title_full | Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator |
| title_fullStr | Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator |
| title_full_unstemmed | Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator |
| title_short | Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator |
| title_sort | dynamic modeling and nonlinear position control of a quadruped robot with theo jansen linkage mechanisms and a single actuator |
| url | http://dx.doi.org/10.1155/2015/315673 |
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