Stair Climber Robot

Background

Stairs pose a large challenge in robotic mobility due to their uneven geometry, steep angles, and need for precise balance and torque control. To address this, our team at UC Irvine is developing a compact stair-climbing robot designed to carry a standard water bottle up the 19-step Engineering Gateway staircase. The project aims to combine practical mechanical design, sensor integration, and system control within a limited budget to demonstrate real-world problem-solving. By applying engineering principles learned in class to a tangible, performance-driven challenge, our team seeks to create a reliable and visually engaging robot that highlights innovation, teamwork, and hands-on design experience.

Goals and Objectives

Our team’s primary goal is to design and fabricate a semi-autonomous stair-climbing robot capable of transporting a 0.5-liter water bottle up the 19-step Engineering Gateway staircase safely and efficiently. The project emphasizes mechanical reliability, balance, and cost-effectiveness within a $400 budget, showcasing practical engineering application through teamwork and innovation.

Past Objectives (Fall Quarter 2025):

• Finalized system architecture and CAD models for all subsystems.
• Completed Bill of Materials and component procurement.
• Fabricated the laser-cut chassis and 3D-printed tri-spoke wheels.
• Integrated electronic components, sensors, and RC controls for initial proof-of-concept testing.

Future Objectives (Winter Quarter 2026):

• Refine drivetrain and control software for smoother, more stable stair climbing.
• Conduct extended performance and reliability testing under load.
• Optimize weight distribution and power efficiency.
• Prepare final demonstration and documentation for project evaluation and public showcase.

Drive Train Design

The robot’s drive train is built around a tri-spoked wheel system, a unique and proven design for stair-climbing applications. Each of the four wheels is mounted with three evenly spaced curved spokes that rotate around a central hub, allowing the robot to “step” from one stair to the next in a continuous climbing motion. As one spoke contacts the edge of a stair, the next spoke rotates into position, maintaining stability and forward momentum even on steep inclines.

Each tri-spoke wheel is powered by an independent high-torque DC gear motor, providing the necessary torque to lift the robot and its payload while ensuring smooth, controlled motion. A gear reduction assembly improves torque output and minimizes the chance of stalling during ascent. This configuration offers excellent balance between power, traction, and efficiency, enabling the robot to handle the 30° incline of the Engineering Gateway stairs with consistent and repeatable performance.

Team Contact

Carlie Siu: cmsiu@uci.edu

Alan Soto Romero: asotorom@uci.edu

Sponsor

Mohamed Shorbagy: mshorbgy@uci.edu