{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,11]],"date-time":"2025-11-11T22:12:35Z","timestamp":1762899155902},"reference-count":34,"publisher":"Hindawi Limited","license":[{"start":{"date-parts":[[2015,1,1]],"date-time":"2015-01-01T00:00:00Z","timestamp":1420070400000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Robotics"],"published-print":{"date-parts":[[2015]]},"abstract":"<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>","DOI":"10.1155\/2015\/315673","type":"journal-article","created":{"date-parts":[[2015,5,19]],"date-time":"2015-05-19T21:04:02Z","timestamp":1432069442000},"page":"1-15","source":"Crossref","is-referenced-by-count":6,"title":["Dynamic Modeling and Nonlinear Position Control of a Quadruped Robot with Theo Jansen Linkage Mechanisms and a Single Actuator"],"prefix":"10.1155","volume":"2015","author":[{"given":"Shunsuke","family":"Nansai","sequence":"first","affiliation":[{"name":"Tokyo Denki University, 5 Senjuasahicho, Adachi, Tokyo 120-8551, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rajesh Elara","family":"Mohan","sequence":"additional","affiliation":[{"name":"Singapore University of Technology and Design, 8 Somapah Road, Singapore 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