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Originally Posted by Matt Krass
You may want to try a tri-wheel.
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I've built one of those before using Legos, and it worked pretty well. But there is one thing to remember when you build these. The wheels around the outside must spin faster than the center shaft. This will make the three wheels roll easily, but when an obstacle comes (like a stair), the force will then take the easier route and rotate the whole assembly (instead of the indiviaual wheels).
If you are interested, here is video of a Lego Tri-Wheel robot climbing stairs:
http://www.visi.com/~dc/tristar/stairs4.avi
There are more pictures on this page:
http://www.visi.com/~dc/tristar/