Imperial College London

Dr Nicolas Rojas

Faculty of EngineeringDyson School of Design Engineering

Lecturer
 
 
 
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Contact

 

n.rojas

 
 
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Location

 

Dyson BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@article{Nansai:2015:2015/315673,
author = {Nansai, S and Mohan, RE and Tan, N and Rojas, N and Iwase, M},
doi = {2015/315673},
journal = {Journal of Robotics},
pages = {1--15},
title = {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},
volume = {2015},
year = {2015}
}

RIS format (EndNote, RefMan)

TY  - JOUR
AB - <jats:p>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.</jats:p>
AU - Nansai,S
AU - Mohan,RE
AU - Tan,N
AU - Rojas,N
AU - Iwase,M
DO - 2015/315673
EP - 15
PY - 2015///
SN - 1687-9600
SP - 1
TI - Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator
T2 - Journal of Robotics
UR - http://dx.doi.org/10.1155/2015/315673
UR - http://hdl.handle.net/10044/1/44759
VL - 2015
ER -