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Table 3 Possible combinations of triangle support area

From: Locomotion Optimization and Manipulation Planning of a Tetrahedron-Based Mobile Mechanism with Binary Control

Support nodes of A, B, C, D

A

A

A

B

B

B

C

C

C

D

D

D

Support nodes of E, F, G, H

EF

EH

FH

FG

FH

GH

EF

EG

FG

EG

EH

GH

Triangle support area

ΔAEF

ΔAEH

ΔAFH

ΔBFG

ΔBFH

ΔBGH

ΔCEF

ΔCEG

ΔCFG

ΔDEG

ΔDEH

ΔDGH