Energy Based Position Control of Jansen Walking Robot

Abstract

Theo Jansen mechanism is gaining attention among legged robotics researchers due to its scalable design, energy efficiency, low payload to machine load ratio, bio-inspired locomotion, and deterministic foot trajectory. In this paper, we present a novel position control strategy for Jansen walking robot derived using projection method for which energy based control forms the core. Numerical simulations are done to validate the efficacy of the designed controller. This work identifies an appropriate controller gain that decreases the overshoot necessary for successful real world deployments.