Rocker-Bogie Mechanisms for Stair-Climbing Robots: A Comprehensive Review of Design, Optimization, and Control

This paper presents an overview of rocker-bogie mechanisms for stair-climbing robots. First conceived by NASA for Mars rover missions, these mechanisms have a lot of potential for applications on Earth related to mobility over rough terrain. We discuss design requirements for stair-climbing, such as geometric considerations, stability constraints, and traction optimization. Optimization methods for mechanisms are discussed, with focus on Taguchi methods, genetic algorithms, and simulation modeling. We supply kinematic and dynamic analysis necessary to the explanation of stair-climbing motion features and force interaction. The article covers control strategies from elementary feedback systems through complex autonomous navigation and sensory demands for terrain adaptability. Limitations existing presently, such as excessive torque demand and restriction on uneven stairs, are discussed, including recent innovations in materials, processes, and hybrid configurations. Examples of search and rescue case studies, assistive equipment, and logistics use show real-world applications. Lastly, potential future research directions such as AI integration, energy-harvesting designs, and novel configurations are mentioned. This survey offers engineers designing mobile robotic platforms for staired spaces with helpful insights.