Design of a Robust Stair Climbing Compliant Modular Robot to Tackle\n Overhang on Stairs

Abstract

This paper discusses the concept and parameter design of a Robust Stair\nClimbing Compliant Modular Robot, capable of tackling stairs with overhangs.\nModifying the geometry of the periphery of the wheels of our robot helps in\ntackling overhangs. Along with establishing a concept design, robust design\nparameters are set to minimize performance variation. The Grey-based Taguchi\nMethod is adopted for providing an optimal setting for the design parameters of\nthe robot. The robot prototype is shown to have successfully scaled stairs of\nvarying dimensions, with overhang, thus corroborating the analysis performed.\n