• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.924-927
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• 1996

In this work, we investigate the quasi-static crawling of the four-bar mechanism. Since the crawling of the mechanism is based on sliding of contact points of the mechanism with the ground, interaction forces and friction forces at contact points of the mechanism with the ground should be computed. For this purpuse, we introduce the concept of imaginary joints to find these forces. Therefore, we are able to treat the closed mechanism as a serial one. Also, sliding conditions of the mechanism in quasi-static equilibrium are examined. Lastly, the required torques for the mechanism to crawl with respect to various configurations of the mechanism but with a fixed ground friction are investigated.

• 제어로봇시스템학회논문지
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• 제8권3호
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• pp.226-232
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• 2002

In this work, the quasi-static crawling of the four-bar mechanism is investigated. Since the crawling of the mechanism is based on sliding of contact points of the mechanism with the ground, interaction forces and friction forces at contact points of the mechanism with the ground should be computed. For this purpose, we introduce the concept of imaginary joints to find these forces and treat the closed mechanism as a serial one. Lastly, the required torques for the mechanism to crawl with respect to various configurations of the mechanism on a flat ground with uniform friction coefficient, based on sliding conditions of the mechanism in quasi-static equilibrium, are investigated.