hi, I'm looking at design options for the mobile base of a robot to be used to roam in a house. I'm leaning towards the basic two wheel differential steer with caster(s) as a good design for flat surfaces. However, I`m starting to lose nights of sleep trying to think of a way of providing this base with a stair climbing ability or at least a way to negotiatie a single step, as often found separating rooms in houses. Just cant think of a simple way, other than perhaps using tracks but then that really tears up the floor.
anybody seen elegant and practical solutions for this.....or is it just something to avoid until it becomes practical for the hobbyist to build bipeds ?
thanks in advance for your input.