The Inspector Gadget robot, only not necessarily in humanoid form, might be useful. Modular bits it can carry along. As for overall form, a compact and stable f

The Inspector Gadget robot, only not necessarily in humanoid form, might be useful. Modular bits it can carry along. As for overall form, a compact and stable form has already come to us in media as well. The astromech droids from the Star Wars galaxy are bipedal / tripodal adaptable so they can be very agile or very stable. To be more adaptable to more terrains, maybe a compact tripodal or quadrupedal stepping robot, or a bipedal one with optional third leg.