A Modularized Reconfigurable Pedrail Structure for Effective Stair Climbing

A modularized reconfigurable pedrail is designed for movable surveillance and unstructured environment of buildings. The robot can climb stairs by being recomposed to a little bulk(each module is 30cm long, 11.5cm wide and 11cm high). The principle for the tracked robot to climb stairs is analyzed in this paper and its moving ability and adaptability for various landforms is also proved by experiments.