A Study on the Modeling of Independently Driven Quadruped Crawler System for Posture Control of Special Purpose Machine for Disaster Response

The crawler-leg mobile system is a sub-mechanism of special purpose machines for the early stage rescue and reconstruction in disaster. This system plays a role in controlling the posture to prevent rollover when the special purpose machine is running on rough terrain. In this paper, a mechanism is introduced for posture control of a crawler-leg mobile system and coordinates for mathematical model is define. Using defined coordinates, a mathematical model based on differential kinematics is proposed for posture control system. The validity of the mathematical model is verified by comparing the results of the proposed mathematical model and the multi body dynamics simulation model. And a mathematical model is proposed for posture control of the crawler-leg mobile system.