From: Locomotion Optimization and Manipulation Planning of a Tetrahedron-Based Mobile Mechanism with Binary Control
Support nodes of A, B, C, D
A
B
C
D
Support nodes of E, F, G, H
EF
EH
FH
FG
GH
EG
Triangle support area
ΔAEF
ΔAEH
ΔAFH
ΔBFG
ΔBFH
ΔBGH
ΔCEF
ΔCEG
ΔCFG
ΔDEG
ΔDEH
ΔDGH