Abstract
Theo Jansen mechanism is gaining wide spread popularity among legged robotics researchers due to its scalable design, energy efficiency, low payload to machine load ratio, bin-inspired locomotion, deterministic foot trajectory among others. In this paper, we present dynamic analysis of a four legged Theo Jansen link mechanism using projection method that results in constraint force and equivalent Lagrange's equation of motion necessary for any meaningful extension and/or optimization of this niche mechanism. Numerical simulations using MaTX is presented in conjunction with the dynamic analysis. This research sets a theoretical basis for future investigation into Theo Jansen mechanism. (C) 2013 The Authors. Published by Elsevier Ltd. Selection and peer-review under responsibility of the organizing and review committee of IConDM 2013