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Stair-Climber • Masterpeice 1 5

the robot to balance on two wheels, and climb stairs as well. Recently, Dean Kamen has
created an incredible wheelchair (iBOT) with all these capabilities. It has two wheels per
side used in a bi-star configuration (Figures 1.4 and Figure 1.5). Check out the following
web sites to find out more on this incredible device:

■ www.dekaresearch.com

■ www.indetech.com
■ www.dynopower.freeserve.co.uk/homepages/newchair.htm

Figure 1.4 The iBOT Wheelchair in Elevated Mode

Figure 1.5 iBOT Wheelchair Descending Stairs

Building the Stair Climber

There are two sets of instructions and two corresponding part lists for building the basic
tri-star wheel assemblies:

■ The first option uses the older style TECHNIC tri-plate and associated toothed
bushings.
■ The second option uses a newer tri-beam piece available in one of the LEGO
Spybotic sets, and possibly other sets as well.

As a third option, it would be possible to mix both types of tri-star wheels within the
same model, as they are functionally equivalent. Use whatever combination you find con-
venient. When completed, the Stair-Climber is symmetrical from side to side and front to
rear. Remember this when following the instructions, as many parts being added may be
hidden from view.The only exception is the motor wiring, which is all tied to one
common point.