Interesting solution! The deformation in the wheels both dampens the PID controller movement naturally to prevent runaway, and also doubles as a variable-height stair climbing mechanism! And the interior basket to keep the product level is genius as well, really good design! The only problems I see is that since it's higher off the ground, it has a higher center of gravity which means that both the PID mechanism has to work harder to keep it stable, as well as making travelling during high wind nigh impossible.
@@15devatkrishnasreenivasan17 in case you are still interested I don’t think the wheel is printed, it looks like it is just made out of strips of rubber. The “spokes” are just loops of the rubber strip and the outer surface is just a rubber strip wrapped round the spokes. At least that is what it looks like to me. Why did you think it was 3D printed? Anyway printing wheels that large would require a big printer, a lot of material and a lot of time.
![[Mobinn] Control for Climbing Stair of a Delivery Robot](/img/logo.svg){kind=logo}
