Dynamic modeling and nonlinear position control of a quadruped robot with theo jansen linkage mechanisms and a single actuator

• Main Authors: Nansai, S, Mohan, R.E, Tan, N, Rojas, N, Iwase, M
• Other Authors: BIOMEDICAL ENGINEERING
• Format: Article
• Published: 2020
• Subjects: Actuators; Dynamics; Energy efficiency; Equations of motion; Multipurpose robots; Robots; Bioinspired locomotions; Complex mechanical system; Four-legged robot; Linkage mechanism; Model and analysis; Nonlinear position controls; Projection method; Quadruped Robots; Position control
• Online Access: https://scholarbank.nus.edu.sg/handle/10635/180927
• Institution: National University of Singapore

10.1155/2015/315673