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This paper presents a tracked robot composed of the proposed crawler mechanism, in which a planetary gear reducer is employed as the transmission device and provides two outputs in different forms with only one actuator. When the crawler moves in a rough environment, collision between mechanism and environment inevitably occurs. This underactuated crawler can absorb the impact energy that should be transmitted to the actuator. A modular concept for the crawler is proposed for enlarging its usedoi:10.1109/iros.2009.5354146 dblp:conf/iros/QuanM09 fatcat:chelcluiybcojjc3ulbfilot3y