Current delivery devices and services are optimized for flat terrain and struggle with stair-like obstacles. StairForce One is a remotely operated tracked vehicle designed to transport small payloads up steep staircases without physical tethering. The system uses a dual-track drivetrain and distributed wheel and distributed gear support to maintain stability and traction while climbing. StairForce One successfully transported a 0.5 L (16.9 oz) water bottle up UCI Engineering Gateway stairway in less than 30 seconds with 50% power, demonstrating reliable ascent and remote operation. This project highlights the potential for compact stair-climbing vehicles in last-mile delivery, accessibility support, and emergency logistics.
StairForce One was designed to transport small payloads across stair obstacles, a task that is difficult for traditional wheeled robots. The robot climbs and descends stairs while carrying a 0.5 L water bottle within an 11 kg (24.2 lb), 38" by 13.5" by 12.5" form factor. The robot is powered by a 24-volt battery and uses two DC motors connected to a geared drivetrain. The motors drive the timing belts that move TPU 3D-printed tracks designed to reduce the need to climb every vertical rise by gripping the edges of the stairs and maintain traction while climbing. The track system is similar to tank tracks and helps to distribute the robot’s weight so it can move smoothly between steps without tipping.
The mechanical components of the robot were designed in Solidworks to determine the layout of the chassis, drivetrain, and payload container. An ESP32 is used to control the motors and communicate with a smartphone through a remote control application, Dabble. Using the application, the user can control the direction and speed of the robot remotely. The payload container was built into the frame so the 0.5 L water bottle can be easily maneuvered. Several rounds of testing were performed to adjust the track tension, drivetrain, and control responsiveness so the robot could reliably climb the Engineering Gateway stairs.
The final result of this project is a working stair-climbing robot that can carry a 0.5 L water bottle up and down the stairway of Engineering Gateway at UCI. StairForce One was able to consistently climb the staircase in an average time of about 19 seconds while maintaining stability and traction on each step.
Along with the working prototype, the project produced CAD models in Solidworks and testing data documenting the robot’s stair-climbing performance. Overall, StairForce One demonstrates a practical solution for transporting objects across stair obstacles using a tracked drivetrain, DC motors, and wireless control through a smartphone interface.