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Re: Hypothetical Situation - Stairs
what about something like:
http://www.youtube.com/watch?v=a0NFrA-Nx4Y
prototyping that kind of drive train would even be useful for that fabled water game 
also, for those wanting a real challenge, try this method:
http://www.youtube.com/watch?v=kpfjnqaFwtU&NR=1
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Peachtree Regional Volunteer since 2003
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