The high level of mobility obtained with a four-articulated-track robot has led the authors to develop theoretical models for analyzing the locomotion performance of such platforms. The paper reports on the basic assumptions and the kinematic and static models which will be used either in the control system of the robot or for simulation purposes.
J. R. Argouarch,
F. X. Potel,
"Mechanical Models For The Locomotion Of A Four-Articulated-Track Robot", Proc. SPIE 1195, Mobile Robots IV, (1 March 1990); doi: 10.1117/12.969876; https://doi.org/10.1117/12.969876