Imagine a Segway with 6 wheels....
The wheels would be on a Y shaped yoke - 120 degree spaced - with a wheel on the end of each arm of the Y.
The Y would have a rotary axis - on the convergence of the three arm.
This would allow the Segway to climb stairs. The wheels would draw the unit inwards to the riser of the stairs - then the yoke would rotate - lifting the unit to the next step.
It would use torque sensing to initiate the climb - and descent of the unit up and down the stairs
..
The gyro system would keep the whole thing on level.
The wheels would be on a Y shaped yoke - 120 degree spaced - with a wheel on the end of each arm of the Y.
The Y would have a rotary axis - on the convergence of the three arm.
This would allow the Segway to climb stairs. The wheels would draw the unit inwards to the riser of the stairs - then the yoke would rotate - lifting the unit to the next step.
It would use torque sensing to initiate the climb - and descent of the unit up and down the stairs
..
The gyro system would keep the whole thing on level.