I am designing a robot that will be able to climb stairs in a similar method to a packBot.
However it is designed exclisvly for indoor use, which means carpets!
From my reasearch the basic impression i get is that i need smooth tracks with not much friction to be able to turn effectivly while on the flat. However when it comes to being able to climb stairs i will need tracks with large treads. Obviously two ends of the spectrum so somehow i need to find a balance!