Abstract
In this paper will be discussed the subject of robot intervention in situations where man cannot safely intervene. So, the main goal of this research is the development of a mobile robotic structure with off-road capabilities that can move around disaster areas. To achieve this goal, a mechanical structure able to overcome any obstacles, has been designed, simulated and optimized. The locomotion problems of the proposed robot were solved with complex kinematics, based on adapting the structure to the work environment. The robot is provided with a rolling drive system around the body. When encountering with an obstacle, the structure will roll, with the aid of the tail fixed on the robot body.
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