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Journal of the Robotics Society of Japan
We have proposed a self-reconÞgurable parallel robot, which can be conÞgured to 4R and 5R closed kinematic chains. This paper proposes a parallel mechanism mobile robot by mounting it on a crawler mechanism. The combined mobile robot can gain some useful functionalities from the advantage of its parallel mechanism other than just locomotion, such as getting over a bump by control of its center of gravity and carrying an object by making use of its shape. Furthermore, the robot can formdoi:10.7210/jrsj.23.213 fatcat:kf7b7zaflzfzpb6l4tz2tmhfk4