Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles

Stair climbing is one of the most challenging tasks for vehicles, especially when transporting people and heavy loads. Although many solutions have been proposed demonstrated in practice, it necessary to further improve their ability safety. This paper presents a systematic review scientific engineering stair literature, providing brief descriptions mechanism method operation highlighting advantages disadvantages different types platform. To quantitatively evaluate system performance, various metrics are presented that consider allowable payload, maximum speed, crossable slope, transport combinations. Using these metrics, possible compare vehicles with locomotion modes properties, allowing researchers practitioners gain in-depth knowledge stair-climbing choose best category loads up flight stairs.