The Theo Jansen mechanism is gaining widespread popularity among the legged robotics community due to its scalable design,\nenergy efficiency, low payload-to-machine-load ratio, bioinspired locomotion, and deterministic foot trajectory. In this paper, we\nperform for the first time the dynamic modeling and analysis on a four-legged robot driven by a single actuator and composed of\nTheo Jansen mechanisms. The projection method is applied to derive the equations of motion of this complex mechanical system\nand a position control strategy based on energy is proposed. Numerical simulations validate the efficacy of the designed controller,\nthus setting a theoretical basis for further investigations on Theo Jansen based quadruped robots.
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