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

Table 1

Physical parameters of the Theo Jansen linkage mechanism ().

Parameter	Notation	Value
Inertia moment [kg·m^2]
Mass [kg]
Viscous friction coefficient [Nm·s/rad]
Height of link-1 [m]		0.02316
Length of link [m]
Length from extremity to gravity center [m]
Length from gravity center to end [m]
Length from gravity center to corner of triangle [m]
Central angle of triangle [m]