Design exploration and comparative analysis of tail shape of tri-wheel-based stair-climbing robotic platform.

Stair climbing is one of the most important capabilities of mobile robots. Therefore, stair-climbing mobile robots have become a field of study and diverse stair-climbing mobile robots have been developed. Although tri-wheel-based stair-climbing robotic platforms were developed to overcome the challenges posed by stair climbing, they have shown limitations such as impact during locomotion and damage owing to friction with the nosing of the stairs.