Dynamics of four legged multipurpose rope climbing robot

Legged vehicles can walk on rough and uneven surfaces with a high degree of softness. This is one of the key reasons why legged machines have received more attention by the scientific community. The second fact is minimizing the overall cost for the practical usage of the robot to increase the applicability in various scenarios. This paper focuses on construction of a four legged multipurpose rope climbing robot and methods used to minimize the cost for the robot implementation