Fig. 4From: Design and implementation of a maxi-sized mobile robot (Karo) for rescue missionsStep climbing of a response robot with various locomotion mechanisms. a No flippers. b One pair of regular flippers. c One pair of triangular flippers. d Two pairs of two-linkage flippers. e One pair of triangular flippers combined with one pair of regular flippers. f Two pairs of regular flippersBack to article page