pic: 99 robot in action

At the NYC FIRST Kickoff we used the '99 robot wheels to demo the climbing. It was able to climb the 6" step but the casters always get stuck.

hey thats really awesome. We had thought of making wheels like that in '99 to get up on the puck, but instead we had castors on the front that collasped when it hit the puck, like sliding a gerny into an ambulance

and we had retracting wheels on the back that lifted off the floor at the last second using pneumatics.

you could fix the ‘snagging the castors’ problem by putting a wedge shape in front of them

Btw - did it work on the 6" step?

Maybe a design similar to this one? Just a simple ramp in front of the caster (like Ken was talking about).