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

Table 4

Physical parameters of the gear system.

Parameter	Notation	Value
Inertia moment [kg·m^2]
Mass [kg]
Viscous friction coefficient [Nm·s/rad]
Center distance of gears [m]		0.1
Length of frame [m]
	Radius of gears [m]