Modeling and Simulation of a Jumping Four-legged Robot on Staircases

The new generation robots are the ones that have the ability to perform missions in the shortest possible time and with the best performance. In the new generation of quadruped robots, important scientific research topics include stability maintenance, mechanical structure, and control algorithms. The robot climbing the stairs or climbing the stairs is one of the up-to-date and unique topics that has been raised in the field of robotics in a rough way with its own complexity. Jumping the robot from the stairs can be one of the best possible solutions to reduce the time of walking and performing operations. The use of torsion springs as muscles and their location in the joints play an important role in the design of the robot. In this study, the springs at each robot's foot are designed so that the robot can jump using the springs. This has created a unique and unique robot jumping on the stairs, which in itself is one of the most important achievements of this paper. In this research, after designing the four-legged robot and analysing the dynamic equations governing it, t he robot is simulated in Adams software. On the other hand, robot jumping has been proposed as the best solution for climbing stairs with specific dimensions and sizes to reach the upper terrace. The result of the simulation shows the acceptable performance of the robot in climbing the stairs.