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 theshortest possible time and with the best performance. in the new generation of quadruped robots,important scientific research topics include stability maintenance, mechanical structure, andcontrol algorithms. the robot climbing the stairs or climbing the stairs is one of the up-to-date andunique 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 ofwalking and performing operations. the use of torsion springs as muscles and their location in thejoints play an important role in the design of the robot. in this study, the springs at each robot'sfoot are designed so that the robot can jump using the springs. this has created a unique andunique robot jumping on the stairs, which in itself is one of the most important achievements ofthis paper.in this research, after designing the four-legged robot and analysing the dynamicequations governing it,the robot is simulated in adams software.on the other hand, robot jumpinghas been proposed as the best solution for climbing stairs with specific dimensions and sizes toreach the upper terrace. the result of the simulation shows the acceptable performance of the robotin climbing the stairs.