Furthermore, the crawler with powder-filled belts was able to climb steeper stairs (step
length 270 mm, step height 160 mm and edge radius 5 mm), although the crawler with
urethane rubber blocks could not ascend because of an insufficient grip force. Moreover,
climbing experiments involving the crawlers moving on stairs in non-straight trajectories
were performed. Although the crawler with grouser-attached tracks could not ascend the
stairs because the grousers could not obtain a sufficient traction from the stair edges, the