Analysis of a compliant Multi-Module Robot for circular stair climbing

Abstract

The primary objective of a robot is to substitute or complement humans in life-endangering situations. The paper deals with the design and analysis of a robot suitable for such Urban Search and Rescue operation (USAR) scenarios. A survey of the existing robots in this field is done and new design considerations have been developed. Further, quasi-static analysis of the robot along a circular stair is performed to confirm whether the design considerations will satisfy versatility as well as mobility, the key requirements of a true uneven terrain robot.